Quote:
Originally Posted by Ether
Not a big deal, but I'm curious why you chose the above convention?
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I chose that system because it seemed sensical if you view your robot starting from the midline and viewing the field from top-down. Again, you can change the followers if you want to modify the coordinate system
Quote:
Originally Posted by Ether
It seems like there has to be a better way. Quite often, it's possible to make a small change to the order or method of computation to completely avoid those kind of errors. And if not, isn't there a way to trap floating point errors and make an alternate calculation in an exception handler?
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There most likely is, and I will be testing approaches within the next few days. This only happens if you're trying to make a path with 90 degree exit angles without the Y value changing, creating a graph oscillates multiple 10s of meters in magnitude