I know that time stamping serves a purpose in path planning, I assume that it aids in the repeatability of executing any given path. But hypothetically, couldn’t you generate a path using just encoder ticks as your point of reference? While the execution of a path like this wouldn’t be as consistent as full blown Pathfinder, I imagine it would work just fine for most purposes as long as you still take advantage of velocity and acceleration control, along with generating smooth paths. Just to be clear, what I’m proposing is a path generated by Pathfinder, without the time stamp.
What I have in mind is I want to generate paths for our robot to follow using Pathfinder, but I’d like to write a custom execution system to follow said paths, and I don’t want to make it unnecessarily complicated.
“Why not just use the full functionality of Pathfinder?”
I want to have more control over how our robot follows any given path, and I’d like to be able to customize said process to implement additional features when necessary.
If I’m way off base here, let me know. But I think that although this method of path planning wouldn’t be the most accurate, it would be a lot better than our team has done in the past.