1. No, the driveline templates currently available for tracked vehicles are connected to both sprockets. One possible way to actuate them independently is to disconnect the driveline (see ChTrackedVehicle ::DisconnectDriveline<https://api.projectchrono.org/classchrono_1_1vehicle_1_1_ch_tracked_vehicle.html#a869a72af82f2786e38b5ec2dcaeb864e>) and then add your own actuators connected to the sprocket bodies (e.g., using ChLinkMotorRotation). 2. You are probably missing a dependency or use an incorrect version of a dependency. Check carefully the CMake output as it is most likely that the Chrono::GPU module is automatically disabled (that happens if CUDA cannot be found or if you are using an Eigen version older than 3.3.6). 3. The vehicle model is asymmetrical (rotational dampers are in different locations left/right, there are 63 track shoes in the left track and 64 on the right, etc.). Furthermore, numerical errors can be significant (depending on solver and integrator settings) and accumulate. All of this makes it that the vehicle will not go in a straight line with an open-loop controller (which is what you use when you prescribe driver inputs from a file). You may want to look in the provided examples and attach a lateral controller (path follower).
--Radu From: [email protected] <[email protected]> On Behalf Of wonderful Boston Sent: Sunday, October 13, 2024 10:12 AM To: ProjectChrono <[email protected]> Subject: [chrono] cannot find ChronoEngine_gpu.dll;independent speed control of the left and right drive sprockets; Dear project manager, I have asked the following questions before, but I did not get a reply. I am worried that it is because of the network, so I ask for help again. 1. Can the tracked vehicle be configured for independent speed control of the left and right drive sprockets? How should I implement this (using the M113 as an example)? I’m feeling a bit confused at the moment. 2. When I open the executable with the GPU module, it shows an error saying it cannot find ChronoEngine_gpu.dll. I have checked, and indeed, this DLL is missing on my computer, but I believe I have configured the GPU module correctly. How can I resolve this issue? 3. Why does the M113 tracked vehicle gradually drift during long simulations? I am using the default model without modifications, and my control input is from a custom .txt file where I have only set the throttle, while both steering and braking are set to 0. I find this issue rather strange. I would greatly appreciate your assistance. -- You received this message because you are subscribed to the Google Groups "ProjectChrono" group. To unsubscribe from this group and stop receiving emails from it, send an email to [email protected]<mailto:[email protected]>. To view this discussion on the web visit https://groups.google.com/d/msgid/projectchrono/b98044a0-321b-4f14-845f-ad17e4586d97n%40googlegroups.com<https://urldefense.com/v3/__https:/groups.google.com/d/msgid/projectchrono/b98044a0-321b-4f14-845f-ad17e4586d97n*40googlegroups.com?utm_medium=email&utm_source=footer__;JQ!!Mak6IKo!IkKa14V8G8Bv8b-gJZmXco0TANV2VDU7GovtycqC6-mW1kpwHmvzxXceU8yiCgl8gaBM3Ks1G6I5YEbNI0A$>. -- You received this message because you are subscribed to the Google Groups "ProjectChrono" group. To unsubscribe from this group and stop receiving emails from it, send an email to [email protected]. To view this discussion on the web visit https://groups.google.com/d/msgid/projectchrono/CH3PPF46CDC2185D2A35C951C6D3DF0AAB1A77B2%40CH3PPF46CDC2185.namprd06.prod.outlook.com.
