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Ackermann steering controller example

oi oi oi I want to use the thing on a halftruck, and I'd like to do a cheeky thing in it and need to yoink some value out of the controller
messaged you on discord

Thx for the comment. Haven’t had those issues myself, I’ll have a look at it!

Works great, the only ackermann controller I got to work.

Suffers from flipping wheels with bigger steering input (below -0.7 and above 0.7) and the steering angle option didn't seem to restrict the steering angle, easy to solve by multiplying the steering with a reduction of ~0.5 before feeding it into the controller, which also prevents the wheels from flipping with a bigger steering input.

Excellent controller otherwise, makes the wheels turn as expected, easy to invert axles and very simple to understand how to set it up.

Great work!

thank you so much for this

Yeah, gotta change that then. I’ll do it in a bit. Thanks for looking into it! (I had some tests on my hands at the time so sorry for the late response ;)

After doing some testing, I believe the devs clamped steering angle to one radian or some approximation of it in each direction. I'm not sure if this affects your formula's calculations.

So 60 degrees?

The wheels turn 2/3 of a pivot with the same input.

looks great, nice
now if only i could get a dev confirmation on the steering angle

updated it