[artK]

Originally Posted by Jaci

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

This is awesome! Do you have any video of this running on your robot during auto?

My one question is why are you generating these 200 points? Because that seems like a lot. Each spline covers about 2", and you have 199 points where the quintic constraints have you driving straight locally (Since the second derivative is zero when it approaches the waypoint in the spline configuration we developed). I suspect this would make the robot drive a little twitchy, especially when trying to turn.