Quote:
Originally Posted by lopsided98
This looks really cool! I was just working on integrating 254's TrajectoryLib into our code, but I might try this instead.
I know 254 did trajectory generation off of the robot because it was too slow. I assume that the combination of the faster roboRIO processor and the more efficient C implementation made it feasible to move the generation on to the robot. How long does it usually take to generate the trajectories?
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I've tested with a rate of 50Hz for the profile update, and with about ~200 generated points it takes roughly 3 seconds to generate on the RoboRIO. This year, I used this to generate the profiles before the match had begun so they were ready at the beginning of auton, by providing it with the defense layout of the field and where my robot is on the field as soon as my driver station had connected. Once the robot had received word of where it was, it would generate the trajectory and hold on to it until Autonomous