I hope everyone is healthy or recovering.
Here is a link to version 1.3 of the LabVIEW trajectory library I’ve been working on. It is a native port of the WPILIB routines available for Java/C++. While I’ve done a lot of testing of most of the routines, consider this beta quality software (at best).
This is a link to zip file. This file contains two files:
Earlier versions of this library are described here… (Please accept my apologies for making this a new post if I should have just continued the old one.) LabVIEW trajectory library
The NI package file contains the library and executable programs. Install this first. This installs the library as a third party WPILIB library, and installs menus for functions and typedefs.
There are also 4 executable utility programs for creating or converting trajectories. These are installed as executable programs. (The source for these is also included in the other zip file.)
The second file contains LabVIEW projects for the utility programs, 4 sample robot programs, and dashboard. The robot programs will run on a simulated robot on a PC. They could also run on a real robot if modified to match your robot’s hardware. Unzip this file in a new directory someplace.
Each of the VI and TypeDefs has a simple help description that can be accessed with Ctrl-H. Since this is a WPILIB port, that documentation can also be useful.
Here is a quick list of what has been implemented.
I’ll put a more detailed list on the share with the install files. (This file missed making it to the package…)
Consider this beta software. I’ve only been able to test the robot code on simulated robots. The swerve and mecanum kinematics, odometry, and trajectory constaints have not been completely tested. (I think there is a bug in the mecanum trajectory constraint, but I didn’t take the time to look for it yet!). If you find something, have a suggestion, corrected routine, or whatever direct message me.
In case people still wanted to use Jacis PathFinder to create trajectories, that library is also installed as part of the package. It isn’t used by any of the native library other the routines that convert PathFinder data to native data for this library.
Some future things I’ve considered for this are:
- testing, testing, testing…
- I haven’t tried this on 64 bit windows yet… (Especially the install package…)
- put it on github…
- sample robots for mecanum and swerve drive (I don’t have experience with that. If someone wants to share that would be great.)
If you get to try this, please let us know about your experience.