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ZE Wheels Steering

Description Discussions0 Comments25 Change Notes

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Vehicles: Land

Microcontrollers: Microcontroller

Tags: v1.6.7

File Size

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52.635 KB

15 Nov, 2022 @ 8:56am

20 Nov, 2022 @ 8:13pm

5 Change Notes ( view )

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ZE Wheels Steering

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Description

A controller for the wheel steering with dynamic reduction, optional angular stabilisation, and optional Ackermann steering.

Steering non-linearity is a modifier for the steering axis. The larger the value of the slider, the slower the steering value increases and the faster it decreases compared to the unmodified axis. Combine it with the adjustment of seat axis sensitivity to get the most comfortable steering curve.
Dynamic reduction changes the steering axis multiplier in range between the min and max steering sliders, depending on current speed. Reduction starts at the speed threshold for max steering and becomes full at the speed threshold for min steering in m/s. If you don't need the reduction, set the min and max steering sliders to be equal or just don't connect the linear speed node.
If you don't need the angular stablilisaiton, set the stabilisation sensitivity slider to 0 or just don't connect the nodes for angular speed and reverse.
For the Ackermann steering you should set the correct wheelbase length and track width of your vehicle in number of blocks. If you need multi-axle steering, duplicate the function gates with formulas for Ackermann steering with the same node inputs, and specify the corresponding wheelbase length for every extra axle.
Move the vehicle's center of mass forward for better cornering control.

Demo example.

25 Comments

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CatWithABat 30 Jan @ 9:43am

Understood

Uran_Wind [author] 24 Jan @ 2:43am

No, it is not inverted. Correct steering direction is set for the wheels that both have the negative toe for positive steering value number, as it is the most intuitive way to install the wheels with suspension in symmetry mode. You can invert the steering axis input value, or if you are using the wheels without suspension, you can just rotate them 180 degrees.

CatWithABat 23 Jan @ 7:25pm

It appears that the steering is inverted, how do I change it?