Team 254 2011 FRC Code

[JesseK]

Originally Posted by AustinSchuh

Thanks! We had a lot of fun this year. Did you also notice the threading and how we implemented Auto mode? We use trapezoidal motion profiles for all the drive commands to generate very smooth motions.

Thanks for posting the code Austin. I'd never heard of trapezoidal motion profiles, but the first Google link seems to give a basic understanding. I haven't been able to view the code yet, but have what assumptions about acceleration/deceleration of the manipulator parts (lift & wrist) were you able to make when modeling their movement?