Chief Delphi - Swerve path and motor trajectory generator?

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- - Swerve path and motor trajectory generator? (http://www.chiefdelphi.com/forums/showthread.php?t=137317)

ohrly?

25-05-2015 22:10

Re: Swerve path and motor trajectory generator?

Quote:

Originally Posted by Bernini (Post 1483684)

Does a path planner exist for swerve given way points x y and heading?

This is likely far, far more complicated than you would ever, ever want to put on an FRC bot, but it's definitely an interesting read. It's kind of the de facto algorithm in the RoboCup collegiate robotics competition. I guess in college, the programmers more or less get free reign to do whatever they want. It helps that they have a bit more than 6 weeks, too ;-)

Anyway, the paper: http://msl.cs.uiuc.edu/~lavalle/papers/LavKuf01b.pdf

Bernini

25-05-2015 22:54

Re: Swerve path and motor trajectory generator?

Reading that hurt my eyes.....Nonetheless, a very interesting. My current research pertains to differential topology with path planning in embedded systems, so this topic is very dear to me.

I found another pdf of the paper posted above that is easier on the eyes to read: http://msl.cs.uiuc.edu/~lavalle/papers/LavKuf99.pdf

Has a team in the past implemented state space based machine control? If so, could you point me to where I could read about what they did?

teku14

27-05-2015 08:00

Re: Swerve path and motor trajectory generator?

Quote:

Originally Posted by faust1706 (Post 1484119)

You can get the latest code from here: https://github.com/faust1706/Smooth-Swerve

The simulation is what this code displays as of right now, but that can be changed. To alter the simulation, change the waypoints to whatever and however many you want. Make sure the heading variable is of the same size as the waypoints array size, otherwise the program will get an outofbounds error.

I have not rigorously tested this code, so feel free to try to break it. If you do break it, either by making it generate an incorrect path or something, then leave a comment here or make it an issue on the repo's page.

The simulation is also completely smooth now thanks to the programmer on 2046.

This is absolutely amazing. Is there any LabView Implementation of this?

faust1706

27-05-2015 08:28

Re: Swerve path and motor trajectory generator?

There doesn't need to be, as this output can be fed into a robot written in labview. You generate your paths off board ahead of time, save off the velocities and headings to a file, then have labview read through that file. If you have good enough control of your robot (go x encoder counts at h heading), your robot will follow the path generated from your way-points.

I think the best game for this is 2011 when doing a multi ubertube autonomous. Maybe something this advanced will be needed in the future.

Let me know if you have any questions.

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