Quote:
Originally Posted by Jared
I've been playing around with the trajectory planning software, and I'm working on an application to quickly input waypoints, visualize output, then FTP to cRIO.
Right now, I'm got it set up so that I can input a bunch of waypoints and have it spit out graphs of robot position, and the trajectories are really amazing. The path is smooth and makes sense, and robot motion is super smooth.
There is one possible bug that I've seen. Sometimes it makes a path that travels the correct x and y distance, but doesn't start at (0,0). Usually it does. Maybe I'm just not understanding it right?
The only thing I haven't been able to make it do is a full 180 degree turn.
See some pictures here:
http://imgur.com/a/Q4RPw
The program-a work in progress- (which is fun to play with):
https://drive.google.com/folderview?...&usp=sha ring
How exactly does the calculation for finding the splines work? Would there be a way to modify it so that you can enter a waypoint that is just a position, and has no heading? |
So one of the caveats of the Trajectory generator that I forgot to mention is that it does not account for motor saturation. If you try to make a turn too quickly and the motors cannot keep up, it will go off path. We had thought about building something that could fix the cross track error but it was just easier to make safe paths.