This routine applies the 'random steer' motion to the steering wheel. The output of this routine is actually what is known as a 'swept-sine' which is a sine-waveform of constant magnitude but steadily increasing frequency.This implementation sweeps through the discrete frequencies which are defined in array F. Each frequency is exercised for the amount of time equal to one period at that frequency. The user specifies the amplitude and maximum frequency required in the parameter array as shown below.
MOTION/id, JOINT = jid, ROTATION
, FUN=USER (1110, amp, freq )
where:
id | = | Motion statement id |
jid | = | Joint id at which the motion is applied |
amp | = | Steering amplitude integer degrees |
freq | = | Maximum steering frequency integer Hz |