Excellent! thanks for your help -JC
On Monday, May 29, 2023 at 11:04:09 AM UTC-7 Radu Serban wrote: > Looking back in the code, I realized I had already implemented a parking > brake (exactly along the lines I mentioned below). I just pushed a minor > change so that the parking brake (i.e., locking of the spindle DOF) happens > only for non-steerable axles. > > > > The function to engage/release the parking brake is > ChWheeledVehicle::ApplyParkingBrake() which takes a bool argument. > > > > --Radu > > > > *From:* 'Radu Serban' via ProjectChrono <[email protected]> > *Sent:* Monday, May 29, 2023 8:20 AM > *To:* ProjectChrono <[email protected]> > *Subject:* RE: [chrono] Does Chrono Vehicle have the concept of a > handbrake/ emergency brake? > > > > Well, that is true for the “standard” 4-wheel, front-steering > configuration. Granted, the most common topology. For Chrono::Vehicle, > where one can model all sorts of configurations, implementing an > emergency/parking brake would also require user input for which axles that > would be applied. I’ll consider adding that. > > > > For now, you want to implement this outside the Chrono::Vehicle library > (i.e., in user code). Look at the implementation of ChBrakeSimple > <https://github.com/projectchrono/chrono/blob/main/src/chrono_vehicle/wheeled_vehicle/brake/ChBrakeSimple.cpp> > > which uses this locking of the spindle joints to overcome a limitation of > this simplistic brake model (no braking torque applied when the wheel has > zero relative angular velocity). You can get the appropriate revolute joint > from the ChSuspension object and then can call the Lock(true) function on > that joint. > > > > By the way, if you are using a ChBrakeSimple in your model, I suggest you > change that to a ChBrakeShafts which does not require the hack I mentioned > above. > > > > --Radu > > > > *From:* 'JC Denton' via ProjectChrono <[email protected]> > *Sent:* Monday, May 29, 2023 3:31 AM > *To:* ProjectChrono <[email protected]> > *Subject:* Re: [chrono] Does Chrono Vehicle have the concept of a > handbrake/ emergency brake? > > > > Thanks for the info! > Is there an easy way to lock the spindles on/off? > > As you know the brake is applied to all wheels, but on most cars the > handbrake is only applied to the rear wheels. So just wondering if there > was already something implemented for a handbrake. Alternatively I can > figure out how to lock the rotation of the rear spindles > > On Friday, May 26, 2023 at 12:51:25 AM UTC-7 Radu Serban wrote: > > There is no model of an emergency brake in Chrono::Vehicle. A simple way > of adding that would be by providing a function that would lock the wheel > spindles (i.e., remove their rotation degrees of freedom). > > > > What scenario are you trying to model? In other words, why isn’t it enough > to just apply maximum brake input (+1)? > > > > --Radu > > > > *From:* 'JC Denton' via ProjectChrono <[email protected]> > *Sent:* Friday, May 26, 2023 5:51 AM > *To:* ProjectChrono <[email protected]> > *Subject:* [chrono] Does Chrono Vehicle have the concept of a handbrake/ > emergency brake? > > > > And if so, where to find it, or is there another approach you suggest to > apply it? > > Thanks! > > -- > 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/a69c4b93-61a5-47d9-8f0b-10b476c2529fn%40googlegroups.com > > <https://groups.google.com/d/msgid/projectchrono/a69c4b93-61a5-47d9-8f0b-10b476c2529fn%40googlegroups.com?utm_medium=email&utm_source=footer> > . > > -- > 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/f02cd447-1c5b-4f89-88b4-fd99ef6f56a7n%40googlegroups.com > > <https://groups.google.com/d/msgid/projectchrono/f02cd447-1c5b-4f89-88b4-fd99ef6f56a7n%40googlegroups.com?utm_medium=email&utm_source=footer> > . > > -- > 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/PH0PR06MB823723FBD210C784E025873EA74A9%40PH0PR06MB8237.namprd06.prod.outlook.com > > <https://groups.google.com/d/msgid/projectchrono/PH0PR06MB823723FBD210C784E025873EA74A9%40PH0PR06MB8237.namprd06.prod.outlook.com?utm_medium=email&utm_source=footer> > . > -- You received this message because you are subscribed to the Google Groups "ProjectChrono" group. 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