We are trying to figure out how to generate and use trajectories that benefit from the holonomic possibilities of a swerve drive. As far as I have researched, I either couldn’t wrap my head around undocumented code or could not find a lot of generators.
So, I was wondering if there is any way to use the output JSON file from this generator with the WPILib Trajectory class. I have examined 6831’s code, but as far as I’ve seen, they haven’t implemented the PID controllers for each module. Any further guidance is appreciated. (This generator apparently uses "an implementation of Kochanek-Bartels Spline " which I am not sure if WPILib supports)
If there are any other ways, generators or things that I could use, read or watch to benefit from the holonomic features would be very helpful.
Some trajectory generator emits a series of Trajectory.State objects, which represent a reasonable sequence of motions the robot could mechanically accomplish. If you can get 6831’s tool to emit a .json file describing a ~20ms-sampled description of the path, there’s a good chance it could be parsed into a sequence of Trajectory.State's