Simulated Four By Four Drive

  • Article

The SimulatedFourByFourDrive sample demonstrates how to implement a vehicle with four wheels.

This sample is provided in the C# language. You can find the project files for this sample at the following location under the Microsoft Robotics Developer Studio installation folder:

 Samples\Simulation\SimulatedFourByFourDrive

Contents:

  • Setting Up the Sample
  • Running the Sample

Prerequisites

Hardware

This sample requires no special hardware apart from a suitable graphics card to run the Simulator.

Software

This software is designed to run with Microsoft Robotics Developer Studio.

Setting Up the Sample

The SimulatedFourByFourDrive service is installed automatically with RDS. There is a VPL example associated with it.

Running the Sample

To start the SimulatedFourByFourDrive sample, use the VPL sample called DriveSimFourByFour that is located in the samples\VPLExamples folder. This uses a DesktopJoystick to drive the car around.

FourByFour

FourByFour - Sample vehicle on outdoor terrain

The SimulatedFourByFourDrive service has only one operation of interest which is called Drive. This accepts two parameters: Power and SteeringAngle. In keeping with the GenericDifferentialDrive contract, the Power must be specified as a double in the range -1.0 to +1.0 with negative values meaning reverse. The SteeringAngle is the angle to turn, in degrees, of a tangent through the front axle center line. Positive angles are to the left.

Summary

This sample covered the following:

  • Setting Up the Sample
  • Running the Sample

 

 

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