Quote:
Originally Posted by zinthorne
could you expand some more on what you mean? You mean record the joystick and have the computer just drive to certain points in it?
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Recording joystick inputs involves a human supplying output states at all points along the motion. The resulting motion can be erratic, and may not even end up in the right spot, or follow the right path at all.
The closed loop controllers that exist in FRC already take a setpoint in the form of an encoder position or velocity and transform them in a way to get outputs that converge quickly on the setpoint. Since we know in autonomous where we want to be or how fast to go, we can give the controller these setpoints exactly instead of bothering with the fuzzy joystick interface. Some controllers are even good enough that we can give them multiple setpoints in quick succession in order to follow a desired path. But this path can also be computed to satisfy certain criteria for smoothness, rate, etc., rather than relying on a human to "draw" it very approximately with a joystick.