Thread: Swerve path and motor trajectory generator?
View Single Post
  #8   Spotlight this post!  
Unread 23-05-2015, 20:23
AlexanderTheOK AlexanderTheOK is offline
Guy
no team
  
Join Date: Jan 2014
Rookie Year: 2012
Location: Los Angeles
Posts: 146
AlexanderTheOK is just really niceAlexanderTheOK is just really niceAlexanderTheOK is just really niceAlexanderTheOK is just really nice
Re: Swerve path and motor trajectory generator?
Quote:
Originally Posted by faust1706 View Post
It's been a pleasure working with you.

I actually have exactly what you are looking for, verbatim actually...It is entirely untested, however.

https://github.com/faust1706/Smooth-Swerve
I'm sorry but what exactly is the implementation of this? As far as I understood, the original point of 254's spline based navigation was to give a robot that couldn't strafe an option for getting to a very specific point and orientation. With a swerve you can just give it points to get to and (as long as you have done due diligence and implemented dynamic acceleration limiting in your code) it should drive smoothly, at least it did for us. What kind of situations are you foreseeing where a holonomic robot would actually need to follow a defined curve rather than just a set of waypoints?