Click Drive?
Driving the robot by simply clicking the target destination within the 3d field.
A 3d Perspective
Rendering the robots position within a 3d field to give drivers a better perspective of the robot, its paths, & its mechanisms. It also supports bot orbit & switching to simulated & real bot cameras as drivers want and displaying multiple tabs for more information.
Pathfinding
Using A* to calculate the shortest possible path, generating a series of points for pure pursuit, & smoothing the points with a Bezier curve to achieve smooth driving.
The backend display
Why Make This?
- Calculating the most optimal paths
- Minimizing time in transit maximizes cycle times
- Using a Low Level Velocity controller in combination allows for maximum achievable speed without sacrificing accuracy
- Click to go is simply a UI over a Inverse Kinematics controller handling all movement which has a combined 6 DoF allowing for picking up any object and placing it anywhere on the field
Notes on the Dashboard
The dashboard was built off of AdvantageScope so a major thanks to MechanicalAdvantage
Dashboard is available as an exe here for early release