These changes are fine. And you can add in a parameter for the torque.
On Dec 6, 2007 9:36 PM, Jordi <
> I have seen that the pioneer controller is almost generic. The only thing
> left seems to be the wheelDiam and wheelSep in the code.
> To solve this, it can be several solutions:
> - Add wheelDiameter and wheelSeparation as XML nodes of the controller
> - Add leftWheel and rightWheel as XML nodes of the controller
> - Some hack based on the joints (I don't know how but will avoid adding more
> XML nodes)