What does 'Cap.' stand for?


#1

One of the Jumping Sumo commands (found here) is to ‘Add the specified offset to the current cap.’. What is ‘cap.’ and what does this command do?


#2

The cap here means the direction of the JumpingSumo. (It is a bad translation from French, sorry about that :wink: ).

For example, if you specify an offset of 1,5708 (90° in radians) the JumpingSumo will make a 90° turn.
Hope this helps,
Regards,
Djavan


#3

Thanks for the clarification. However, what’s the difference between that and ‘turn’ in the PCMD command?


#4

Hi,

This command allows you to pilot the jumping with relative angles (i.e. turn N degrees) while the turn argument of the PCMD allows you to give a rotation speed (i.e. turn at M degrees per second). You could achieve the former with a proper setting & timing of the PCMD, but this would be unreliable (any command lag would change the resulting rotation).

So basically, use the former if you want to do fixed-angle rotations, and use the latter if you want to control the rotation speed.

Regards,
Nicolas.