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Re: Motion Profiling
FYI, 254's code uses trapezoidal motion profiles for all drivetrain moves. If you are willing to dredge through the code, you can see how a team used them last year.
I like to conceptually visualize motion profiles as a filter (even though it is not LTI, so this is an abuse of terminology to me). You tell the filter that you want to go to position "10", and it tells you what to do for the next time step to get closer to "10" while only moving with a maximum acceleration and velocity that you configure the filter with. This is essentially how we implemented it.
I would start by writing code on your local machine to generate motion profiles and debug it by plotting the output to see if it works or not. It is quite hard to debug this type of stuff on a running robot.
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