Thursday, May 14, 2015

One of the things that we discussed continuously during the build season was path planning and motion control. That is, what are the moves that the robot will make in autonomous mode and how do we get from here to there in the fastest, smoothest, and most controllable way.

As with many things FRC, there are several discussions on ChiefDelphi going back years, with examples. Several teams have also posted their robot code.

The main problem for me has been understanding how to implement the information in OUR robot.

This year, there was another thread here, and here, AND a presentation that puts it all together. AND, java source code that could be run on a PC to play and learn.

So, I did just that....played and learned.


The two panes on the right are a velocity/time and path. Straight line go using a trapezoidal velocity profile. The two panes on the left are another one where the path is a bit crazy, even looping over itself. The velocity profile is pretty cool too.

Here is the code I ended up with to get the plots in the picture. I think the Eclipse project info is also in the zipped directory.

1 comment:

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