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View Poll Results: What do you want to see in the new, unnamed version of Pathfinder?
Better error handling 53 27.04%
Better respect for maximum velocity, acceleration, jerk 86 43.88%
New types of paths 39 19.90%
New types of velocity profiles 41 20.92%
More drive system types (tank, swerve, holo, etc) 43 21.94%
Faster computation 62 31.63%
Easier implementation with vendors (e.g. Talon SRX, NavX) 100 51.02%
More control over waypoints 55 28.06%
Better/more docs 94 47.96%
Better/more examples 84 42.86%
Ability to use in more than just FRC 17 8.67%
Actual "Path Finding" (make the waypoints for me) 54 27.55%
Easier implementation for basic paths 51 26.02%
Other (please comment) 17 8.67%
Multiple Choice Poll. Voters: 196. You may not vote on this poll

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Unread 03-27-2018, 09:20 AM
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What do you want to see in Pathfinder?

Hi All,

I'm sure many of you are aware of the Pathfinder library, based on 254's MP implementation from 2015, which has seen a lot of use in this years' season. I'm currently in the progress of creating the unnamed, new rendition of Pathfinder, which is set for an announcement of its own in the future. The timeline for this project is at this point unknown.

There are already a ton of new and noteworthy features being worked on, including better respect for robot kinematics (not violating vmax and amax), capability of following tighter paths, more control over waypoints, new curve types and the ability to work in more than 2 dimensions for special systems.

Since Pathfinder is being used by over 60 teams in their autonomous programs this year, I wanted to get an idea of what you, as a community, would like to see from this library.

There's a poll setup, but please feel free to start a discussion below if I've missed anything, or if you want to expand on your vote further.

There's no guarantee everything will make it in, but this post will be an instrumental tool in determining the development path of the project in the future.
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Unread 03-27-2018, 10:02 AM
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Re: What do you want to see in Pathfinder?

It would be wonderfull to see the ability to incorporate vision, range sensors and other types of sensors to adapt the path "on the fly". I'm still working out how feasible this would be but as long as you could stay 10 or so trajectory points ahead of the follower it seems like it could be done.

Thank you for all the work you put in to this. =D
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Unread 03-27-2018, 10:26 AM
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Re: What do you want to see in Pathfinder?

Quote:
Originally Posted by VanJoel View Post
It would be wonderfull to see the ability to incorporate vision, range sensors and other types of sensors to adapt the path "on the fly". I'm still working out how feasible this would be but as long as you could stay 10 or so trajectory points ahead of the follower it seems like it could be done.

Thank you for all the work you put in to this. =D
This is also being worked on! All paths are completely functional in their generation, meaning you can change your previous point based on your robot's current position, vel and acceleration and it will compensate.
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Unread 03-27-2018, 10:31 AM
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Re: What do you want to see in Pathfinder?

I'd like the option for tighter turns. In doing a side switch/side scale autonomous, we tried having the robot end at a 90 degree angle, but in order to do so, it curved outwards really far first and would become far less accurate the tighter we made it.
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Unread 03-27-2018, 10:32 AM
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Re: What do you want to see in Pathfinder?

Ability to specify non-zero velocity at path endpoints.
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Unread 03-27-2018, 10:52 AM
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Re: What do you want to see in Pathfinder?

Seconding and expanding AntMan above me, having non-zero starting and ending velocities.

This way, we can build piecewise paths that, for example, have a faster top speed during a straightaway, and a lower top speed during turns (since pathfinder doesn't currently respect vmax/amax with tank drives during turns). Right now, our paths max speed is limited based on the max speed we achieve while turning.

This could also allow teams to use pathfinder to build a pure-pursuit system like 254 used in 2016 without having to rewrite much of the library.
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Unread 03-27-2018, 10:55 AM
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Re: What do you want to see in Pathfinder?

Some level of LabVIEW support - or at least easy enough to create a wrapper.
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Unread 03-27-2018, 10:55 AM
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Re: What do you want to see in Pathfinder?

+1

Quote:
Originally Posted by wt200999 View Post
Some level of LabVIEW support - or at least easy enough to create a wrapper.
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Unread 03-27-2018, 11:00 AM
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Re: What do you want to see in Pathfinder?

Quote:
Originally Posted by GBilletdeaux930 View Post
Seconding and expanding AntMan above me, having non-zero starting and ending velocities.

This way, we can build piecewise paths that, for example, have a faster top speed during a straightaway, and a lower top speed during turns (since pathfinder doesn't currently respect vmax/amax with tank drives during turns). Right now, our paths max speed is limited based on the max speed we achieve while turning.

This could also allow teams to use pathfinder to build a pure-pursuit system like 254 used in 2016 without having to rewrite much of the library.
This is being fixed by allowing the tank drive calculator (coupled drivetrain) knowledge of the velocity profile. Instead of generating the profile and path, then merging them, it all happens at once so the max values of the velocity profile can be adjusted according to the model of the robot. In the new version, you will be able to do this without piecewise paths and still respect your robot constraints.

Pure pursuit is something I'm looking at for implementation, also.
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Unread 03-27-2018, 11:02 AM
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Re: What do you want to see in Pathfinder?

Quote:
Originally Posted by Omnicide View Post
I'd like the option for tighter turns. In doing a side switch/side scale autonomous, we tried having the robot end at a 90 degree angle, but in order to do so, it curved outwards really far first and would become far less accurate the tighter we made it.
+1
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Unread 03-27-2018, 11:05 AM
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Re: What do you want to see in Pathfinder?

+2
Quote:
Originally Posted by itsjustmrb View Post
+1
Quote:
Originally Posted by wt200999 View Post
Some level of LabVIEW support - or at least easy enough to create a wrapper.
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Unread 03-27-2018, 11:10 AM
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Re: What do you want to see in Pathfinder?

Quote:
Originally Posted by wt200999 View Post
Some level of LabVIEW support - or at least easy enough to create a wrapper.
This is more difficult than it seems, and is something I would likely leave up to the community to implement, as was done with the current version of the Pathfinder Library https://github.com/JacisNonsense/Pat...finder-LabVIEW
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Unread 03-27-2018, 11:11 AM
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Re: What do you want to see in Pathfinder?

Native support for reversed paths would be nice. In other words, when the path has the following points:
Code:
X     Y     Heading (deg)
0     160   180
120   160   180
The output path should cause the robot to drive in reverse. We did some work-arounds to detect and address this, but if it were part of core pathfinder the application code would be simpler.

Pathfinder is a great resource, though. Thanks for all your hard work! If you want help implementing features, maybe you could put some issues in on GitHub so the community can help?
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Unread 03-27-2018, 11:12 AM
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Re: What do you want to see in Pathfinder?

Being able to specify non-zero endpoint velocities would still be useful for constructing piece-wise paths even if Pathfinder is being changed to have knowledge of the velocity profile. In Power Up we calculate every path we might use in auto in robotInit (Java FWIW) then choose the one that will be followed based on plate assignments and DS input. This approach could lead to some redundant calculations for paths that start out the same then diverge; for example, there could be a routine to drive straight then curve left and a similar but not mirror-image routine to drive straight then turn right; if the drive straight part were the same in both, it would be more efficient to calculate the drive straight path once then continue with either the curve left or curve right path, ideally without coming to a stop at the end of the drive straight path.
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Unread 03-27-2018, 11:14 AM
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Re: What do you want to see in Pathfinder?

Quote:
Originally Posted by Xand10 View Post
+2
+3

I think there is something out there, but it is very obscure.

Some documentation / a tutorial on how to implement it into a labview robot would be amazing.
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