Hi, we have been having some problems using the ChoreoLib library with LabVIEW.
We installed the library along with the Choreo program to create the Odometry for the Autonomous trajectory, because we had been having problems with PathPlanner and PathFinder.
We had several problems that we were able to solve, such as the fact that LabVIEW required a “.json” file and Choreo did not export one, so we had to modify the code of the “.traj” file of Choreo so that the ChoreoLib library could read it.
Now it reads the trajectory and recognizes it, however we do not know how to program the robot so that the Autonomous follows the trajectory created with Choreo.
Do anyone know how to program it?, thank you in advance, I hope you can help us.
Choreo is a trajectory generation tool. I have not seen that it is actually used to control your robots movement.
Typically the work flow is to generate the path in choreo, suck it into path planner and use path planner and wpi libs to control your robot movements.
We are facing similar challenges trying to get labview and path planner to work.
Unfortunately we have not had enough success to be able to tell you what is the correct way to accomplish this.
Have you been able to use odometery to tell you where you robot pose is?
You can take the output of chorio and use it to follow paths directly too. The LabVIEW implementation of Chorio contains a simulated sample robot that follows a chorio trajectory. Find the code that does this in teleop.