Path following - quasics/quasics-frc-sw-2015 GitHub Wiki
Some quick notes/links on path following with the WPILib tools
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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.)
- 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.
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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