Trufiadok
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Everything posted by Trufiadok
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Momently, there is no such possibility. "0st" refers to the zero degree state of servo motors. The target servo values are writable. It could be programmed in the plugin to save or restore these values. -
It seems I managed to fix the "MechJeb compatibility orientation" Bug. I uploaded -> IKRC & TRF_CA2_PDGF_wT. Please, try it.
- 306 replies
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- canadarm2
- inverse kinematics
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This may result from the orientation of the target DockingNode to determine the orientation of EndEffector by rotating Euler (180f, 0f, -90f). This was an experimental rotation between LEE and PDGFwT. I think that the orientation of PDGFwT's target sign is the reason why it is -90 degrees (270 degrees). I'll examine and redraw PDGFwT to make the target sign orientation good.
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It seems I managed to fix the "showTRF" Bug. I uploaded -> IKRC. Please, try it.
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When I move the robot arm, the station doesn't rotate or shake. This can be due to two things. I use the KerbalJointReinforcement plugin or SAS is off at the space station, I think this.
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Yes, I know about the problem. This happens when we exit the "flight sceen", so the transform visualization is not turned off. I put the "transform visualization off" in OnDisable(), in OnDestroy() and in Destroy(), but ineffective. I run out, again.
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Are you thinking of full inverse kinematics control or just the gripping "mechanism" (WireSnare)?
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Jasseji indicated, unfortunately, we can not share the Laztek content.
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I use this part (TRF_DragonCargo), Is this part a problem too? First, I loaded the model.mu file to Blender, saved it to model.fbx and then loaded it to Unity.
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"but some issues are there" - What do you think? I redefined the model in Unity. Maybe I can help.
- 306 replies
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- canadarm2
- inverse kinematics
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I move the robot arm with TRF-Spheres according to the video below.
- 306 replies
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- 1
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- canadarm2
- inverse kinematics
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Can be scaled the size of TRF-Spheres in trf_spheres.cfg file. Currently it is 1.0 /rescaleFactor = 1/ -> rescaleFactor = 0.75 in this case size is 75%. Another option is to place an RCS module description in the LEE config file, but also need to edit the LEE model.
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I tested the plugin with the Clamp-O-Tron Docking Port. It worked. The Clamp-O-Tron Docking Port can't be the cause of the problem. I've modified the IKRC plugin. I added logging to VEE activation and VEE deactivation. Please, update your IKRC plugin, running VEE test and send me KSP.log. I sent my email address for you. I hope we can read from the log of what the problem might be.
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Could you send me picture from structure? RobotArm_LEEwCam --> PDGF---(habitation module)---PORT1--> ? <--PORT2---(spacestation) Do you like this connection? I think I understand your question. What you need is the VEE function. Select PORT1 as target (yellow ball) /leftAlt/. Push VEE button on IKRC window. The port1 will be the EndEffector (white ball). Select PORT2 as target (yellow ball). Activate Inverse Kinematics function.
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Did you mean this feature? Or the function doesn't work in flight mode? I also met bug on IRmod plugin. In Flight mode, I can't move servos from the IR toolbar. The best solution would be to use the original IR plugin. My KSP version: 1.5.1.2335 (x64) Could you send me the KSP.log file then the ksp crashes? If you help, i uploaded modified InfernalRobotics plugin to Github. https://github.com/Trufiadok/IKRC-for-Kerbal/tree/master/InfernalRoboticsMod-develop This is the running list of plugins: Hope you find some starting point for debugging. If you need some information, to write. I use the IR plugin API to rotate servos.
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I did not disapprove of the implement "inchworming" capability. The realization would be that when the direction of operation is turned, plugin would replace the servos to reverse servos. (rotor->rotorb & rotorb->rotor). Only the difference between the "rotor" and the "rotorb", which is the standing part and which is the rotating part. I uploaded modified InfernalRobotics plugin. Includes changes to the "Interpolator.cs" file. https://github.com/Trufiadok/IKRC-for-Kerbal/blob/master/InfernalRoboticsMod-develop/InfernalRobotics/InfernalRobotics/Command/Interpolator.cs I use a robot satellite to transport the robot arm. This is the TRF-Sphere unit.
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I already understand the question. This mode of operation has not yet been resolved. The use of servos from another direction is the special feature of the IR module. The reason for twisting is that the rotation is made so that the IR module rotates the entire model and then rotates back the standing part of the model. Therefore it doesn't work from the other direction. That is why it is not that easy to solve inchworming.
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I use only a modified IR module API. WireSnareLock and Ca2LeeCam are my own modules, but is also work without them. I think it can work with 1.2.2.
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The difference between the original IR plugin and IRmod is that in the IRmod the servo turns the shortest path to the specified angle position. I will examine how this function can be resolved without IRmod. I changed the code below in the "Interpolator.cs" file. //newVel *= Math.Sign(CmdPosition - Position); // direction // CHANGED BY TRUFIADOK float diffPosition = CmdPosition - Position; // CHANGED BY TRUFIADOK if (diffPosition >= 180f || (diffPosition < 0f && diffPosition >= -180f)) // CHANGED BY TRUFIADOK newVel *= -1f; // CHANGED BY TRUFIADOK I fixed the speed reduction with the end position approaching. if (!IsModulo) { if (Position >= MaxPosition) { // hard limit on Endpositions Position = MaxPosition; Velocity = 0f; } else if (Position <= MinPosition) { Position = MinPosition; Velocity = 0f; } } else { //if (isSpeedMode) // CHANGED BY TRUFIADOK //{ // CHANGED BY TRUFIADOK Position = ReduceModulo(Position); //} // CHANGED BY TRUFIADOK } If you are using the original IR plugin, the servo motor may turn +350 degrees instead of -10 degrees.
