Path following - quasics/quasics-frc-sw-2015 GitHub Wiki

Some quick notes/links on path following with the WPILib tools

• References on path following:

  • Characterization is required in order to make sure that you've got some calibrated "magic numbers" (specific to a given robot) for use in "trajectory" (path) following.
    • For some notes from 2021, check out the Robot specific characterization constants
    • Presentation on characterization (a video link is also available)
  • Definition of a path for a robot to follow can be done pretty easily (like, "click-and-drag") using the Pathweaver tool.
  • Use in code is a little more complicated, but we have some examples in the RobotContainer class from the 2021 challenge. (Look for the "GenerateRamseteCommandFromPathFile" method.)

• Trajectory tutorial

• Sample support for Romi devices:

  • CD thread: Trajectory following with the Romi
  • Romi characterization template project
    • Important note: Be sure to review the comments and diagram in the "ReadMe" for the project, particularly including the information about adjusting the presets and units in "Step 3".
  • Modified version of FRC trajectory example, rewritten to work with the Romi