ChoreoLib has been ported to LabVIEW. This allows LabVIEW robots to read and execute trajectories created by Choreo. (This is not an endoresment of one path / trajectory library ). The options now include at least: 1) Builtin WPILIB trajectories and LabVIEW trajectory build utility, 2) Path Planner, 3) Choreo, and even 4) PathFinder (probably the oldest trajectory planner) Each of these have their own advantages and dis-advantages.
Hi, thanks in advance for sharing the library, do you know how to make the Autonomous follow the trajectory created by Choreo?
We noticed that Choreo exports a “.traj” file with the created trajectory, however the ChoreoLib library in LabVIEW requires a “.json”, so we modified the code of the “.traj” file for LabVIEW to read it.
It reads it, but now we don’t know how to program the robot to follow that trajectory in Autonomous mode.
We would appreciate any help, thanks in advance, we will keep looking.
The library referenced above has an zip file with examples. This includes a routine to follow a trajectory. It is in teleop, but it can easily be moved to autonomous.
Internally the TRAJ file is formatted as a JSON file. They just changed the file extension. However they also changed the JSON by adding “samples” section. This caused the file read to not work… I just released a new version to make it compatible again.
This version is compatible with files created with 2.0 version of the Choreo GUI. Note that a TRAJ file is formatted internally as a JSON file. Make certain to use the correct file extension.