Ramsete Path following and Labview

[JSIMPSO]

I didn’t see an implementation of the WPILIB Ramsete controller in LabVIEW. I was curious how this controller works, but it is hard to test without a robot… I implemented the ramsete controller and some of the accompanying code in LabVIEW and plugged it into the Path creation tool that allows a simulated robot to run.

The “path execution library” routines could be used on a real robot. However consider this “alpha” software. It isn’t fully optimized. It doesn’t have a clean way to read the path data structure, although it can write the path to a text file

The project files are here. If anyone gets to try it, let me know what you think.
https://drive.google.com/open?id=1bLqPT6oL5X9tlpaLxf34_EcQQoPuz9h8

This screen shot shows the interesting test programs. One runs a simulated robot. 1) create the path, 2) start the simulated robot, 3) start driver station, 4) select auto/enabled and watch. The other just single steps through a path… for debugging…

Here is an image of the Path Execution Library.

Pathfinder is used to create the path for testing, but doesn’t play a role in the execution of the path.

All of this is an update of this post.

PC Path simulation

I wanted to learn some about path following, so I took the Pathfinder samples and created a path creation and simulation routine that runs on a PC (or a robot) in labview. Here is a link to the labview project files for anyone that is interested. https://drive.google.com/open?id=1bLqPT6oL5X9tlpaLxf34_EcQQoPuz9h8 The two samples are very similar. The only difference is how they index into the arrays of the created path. One is sequential (and assumes the control loop doesn’t fall behind in t…

Enjoy.