Motion Profile Simulator

I’ve been working on this for a while, and it’s finally usable, if crude.

Presenting: MP-Sim, a simulator for robot motion profiles. It uses the motor characterization parameters described in this whitepaper by Noah Gleason and Eli Barnett to compute the actual motion of the robot as the profile(s) are executed.

I am posting this now to see what people think/find out if someone already did this, but I do plan on adding a GUI and something along the lines of the MATLAB PIDTuner tool.

Very cool.

You might try to apply your physics model to the robotpy-pathfinder example program (which shows the robot moving in the pyfrc simulator).