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 If you are "retiring" the old ball, make all the lights green, hang it 8 feet in the air, line up a bunch of 'bots and let 'em shoot poofs. RoboPinata! (warning kids - don't eat the "candy" that falls out!) - Taylor [more] |
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Java applet for experimenting with trajectory generation from waypoints using different interpolation methods. Source, online version available.
A java applet I made up to experiment with waypoint-based trajectory generation for robots. Includes bezier, parabolic, and cubic spline interpolation methods.
I've tried to separate out the trajectory generation code from the applet/display code (which gets messy in places) to make reading easier. Code is commented.
Instructions for use are included in the applet itself (displays at start or press 'H'). Online version at http://www.andrew.cmu.edu/user/rcaho...aj/wptraj.html
Attached Files
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Waypoint trajectory applet java source bundle
WPTraj_src.zip
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uploaded: 08-30-2009 06:48 AM
filetype: zip
filesize: 15.11kb
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08-31-2009 02:19 AM
RyanCahoon
Re: paper: Waypoint trajectory demo java applet
General idea could be applied to a robot by using a gyro and encoders to track (x,y) position on the field and running a PID loop, perhaps somewhat similar to line following. However, this code has not been tested with a real robot, and would probably need some modification for use in that purpose (I have a feeling that velocities would need to be controlled better). This applet should hopefully provide a starting point however.
--Ryan
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