Motion Profiling

[winchymatt]

Originally Posted by AustinSchuh

DT is the period of your loop.

Acceleration, velocity and position are from the trajectory planner.

254's 2011 code has this as part of the drive train autonomous code. It should be available in the whitepapers on this site.

Austin

Great thanks, yes I should have known dt would be discrete time! I checked out the code and the trajectory planner was a great help! Imported the ContinuousAccelFilter class into my borland builder test app, works really well! Thanks for the pointers.

So on a side note, if you were sending just position information to the PID controller, and did not have velocity and acceleration data, could one derive the velocity and acceleration by differentiating the position data with the previous position.. I guess this would not produce a true goal velocity, but may give some feed forward gain??

Matt.