Hi guys, for one autonomous routine, my team wants the robot to start decelerating during a path after reaching a certain point. Is this possible?
I’m not aware of an easy way, but when you create the trajectory with the WPILIB TrajectoryGenerator, you can pass a TrajectoryConfig. To that one you can add one or more
TrajectoryConstraints. When you implement a TrajectoryConstraint, one of the methods is
getMaxVelocityMetersPerSecond(Pose2d poseMeters, .... So in there you can check the current
poseMeters and depending on where you are return a faster or slower speed, i.e. you can determine what speed you want to allow at each position.
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