Quote:
Originally Posted by AlexanderTheOK
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?
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I don't know about the OP, but the reason I have considered doing this is for avoiding objects rather than trying to drive into them (i.e. the cans for a 20pt autonomous, or even other robots if you have a way to detect them and can run the path generator in real-time).