#4 Tarantula's flipper can't be moved

[Arrigo Marchiori]

It seems to me that the flipper control of the Tarantula's robot doesn't work as written in the user manual, page 69.

The manual says that the flippers can be moved issuing the commands:
MISPKG {Type Flipper} {Name FFlip} {Rotation 0,Angle,0}
MISPKG {Type Flipper} {Name RFlip} {Rotation 0,Angle,0}

These commands, in fact, have no effect, or, at least, I was unable to move the flipper by using them :-).

An alternative way to control the flippers is:
MULTIDRIVE {FRFlipper Angle} {FLFlipper Angle}

[Benjamin Balaguer]

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ardovm,

I have recently made a major update for the mission package implementation of USARSim. The command in the manual has been removed from the latest version of USARSim (we will have to fix the manual) and replaced by a new mission package command. You cannot use the new mission package command (which is documented in the manual), however, because flippers were not implemented as a mission package in this release. This is actually an issue that I faced while implementing the new mission package implementation: "are flippers mission packages?" / "should robots with flippers be provided with a new DRIVE command?" This is something that we need to look into and come up with an answer.
In the meantime, you can use a series of SET commands or the MULTIDRIVE command. I believe that you should find documentation about each of these in the manual.

Hope this helps and sorry for the confusion,
Ben

[Arrigo Marchiori]

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Thank you for your prompt answer, Ben!
I'm using succesfully the MULTIDRIVE command, in fact.
I just would like to remind that the MULTIDRIVE command is not documented in the manual; I could know about it because a friend of mine told me how to use it.

rigo