[katzekitteh]

Hello!

I'm currently working on a system to convert a freeform array of points into a path that a robot can drive. Through the research into the topic I have done, it appears that this can be translated into radii of curvature and then into wheel speeds. I think we can utilize the drive method in RobotDrive, but I don't know what physical quantity the "curve" parameter represents. It says that it is turn rate, but I'm unsure of what exactly they mean by that. Is that dΘ/dt? Also, would this even work with the current design plan (Array of points -> array of radii -> sending the robot wheel speeds)? I believe I can write methods to do what we want to do if RobotDrive does not have the functionality necessary to do so.

Thank you in advance,
Pat Walls, Team 708 Software