Ultra-Fast Trajectory Generation (Motion Profiling)

[Jaci]

Hi there,

A while ago, I wrote the Pathfinder library for Motion Profiling and Trajectory Generation. A little more recent, I wrote this post on using a special part of the RoboRIO's ARM Architecture to do vision tracking more efficiently. Today, I'm combining the two and showing you how to generate Trapezoidal, S-Curve, both 1D and 2D Trajectories extremely fast.

Here is the post, where you will find a discussion in a bit more detail, as well as the results obtained.

In short, we can generate profiles and trajectories very, very fast, a huge increase in speed over what is already close-to-metal C.

The code used in this investigation is available here