Re: Very high changes in acceleration and wheel forces which is not logical

Hi Berniw,

Thank you very much for your help.

But the problem still exist .[?][?][?]
 *
The changes i made is the followings:*

I put your code from "TORCS Robot tutorial" instead of the drive function
for the robot
static void drive(int index, tCarElt* car, tSituation *s)
{
    memset(&car->ctrl, 0, sizeof(tCarCtrl));

    float angle;
    const float SC = 1.0;

    angle = RtTrackSideTgAngleL(&(car->_trkPos)) - car->_yaw;
    NORM_PI_PI(angle); // put the angle back in the range from -PI to PI
    angle -= SC*car->_trkPos.toMiddle/car->_trkPos.seg->width;

    // set up the values to return
    car->ctrl.steer = angle / car->_steerLock;
    car->ctrl.gear = 1; // first gear
    car->ctrl.accelCmd = 0.3; // 30% accelerator pedal
    car->ctrl.brakeCmd = 0.0; // no brakes
}

and i print the forces of the first wheel as i have already mentioned...

*The expeimenrts :*

i have tested (TORCS 1.3.3,tita3, car1-trb1 on wheel-1) the changes exist
just at start , and it disapear (smooth force changes) after the car moves
even without any changes.

But I am using (TORCS 1.3.3 ,bt , car2-trb1 on wheel-1) i have wiped out
all stuff out of the default xml file for all the cars(
D:\torcs-1.3.3\runtimed\drivers\bt\ i \default.xml ,   where i =0...9 )
(keeping the brake part as you told me to do)
but the problem didn't disaprear...

I have also tested  (TORCS 1.3.3,berniw2, "FOCW61"on wheel-1) and the same
problem exist.
 acutally what i made is to replace all the drive funciotn.

i have also replaced the code
Ft -= F * sx / s;
Fn -= F * sy / s;
but it still exist...[?]


Thank you very much again and sory for bothering you...

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