Quote:
Originally Posted by Jaci
The way it currently works is like so:
X+ is forward from where your robot starts.
X- is backward from where your robot starts.
Y+ is to the right of your robot where it starts.
Y- is to the left of your robot where it starts.
Positive headings are going from X+ towards Y+, Negative Headings from X+ to Y-. As for the actual following of the heading, that depends on where your gyroscope is zero'd to.
As with anything, these coordinates are useless unless you have the follower code to interpret them. X and Y coordinate directions can be flipped by just sending them to different motor outputs, for example
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The way the splines were defined in Trajectory-Lib (which it looks like you kept everything in it) was as follows:
- The coordinate system used to solve it changes for each pair of adjacent waypoints.
- The origin is your starting waypoint.
- X+ is the ray from the origin to the second waypoint
- This picture describes what the rest of it looks like.
If we define theta to be the angle between any heading in the spline and the x-axis for that spline, |theta| < PI/2, or else lose the polynomial solution we came up with. This is a weakness in using our geometry, but it works in most of the cases you would see and comes up with a clean solution.
If you wanted to make a curve that violates those properties, you could put an intermediate waypoint on the desired curve. This isn't a perfect solution, but it fixes the coordinate system to the point where it can generate splines.