View Single Post
  #6   Spotlight this post!  
Unread 04-02-2017, 13:18
sraque's Avatar
sraque sraque is offline
Registered User
AKA: Steve Raque
FRC #2614 (MARS)
Team Role: Mentor
 
Join Date: Jun 2012
Rookie Year: 2009
Location: Morgantown, WV
Posts: 93
sraque is on a distinguished road
Re: Path Planning and Trajectory Troubles

Quote:
Originally Posted by gerthworm View Post
Also, you did mention something about total distance of each wheel being all that is necessary - this isn't 100% true - ...For this reason, the path planner would need to calculate velocities at all times, and the control algorithm needs to get the sides of the drivetrain to those velocities.
I see your point exactly. Attached is a snapshot of the position and velocity graphs. For this particular run, ending coordinates were (2.96, 1.31, 49) I put an IMU on there today, so that measured heading is more reliable. I doubt we can reliably tune to better execution than this

I haven't yet redone the path with lower max velocity...that is next.

I would still very much appreciate someone generating a path that has the same starting and ending coordinates and posting it. We will execute that path and see what happens. I would like to be able to take the path planner away as the culprit if I can. That would allow us to focus on execution and understand the limitations.
Attached Thumbnails
Click image for larger version

Name:	path capture.PNG
Views:	44
Size:	45.9 KB
ID:	21692  
Reply With Quote