Our team finally figured out how to successfully implement trajectory following. Now we’re wondering if it’s easy to integrate into the command based programming structure.
We have a drive subsystem, but following the WPILIB tutorial resulted in much of the trajectory following code being added to the Robot Container file. We’re thinking that part of the coding goes into the subsystem, perhaps as an added drive method or collection of methods and the Ramsete Command goes into individual commands for each trajectory.
Have any of you implemented trajectory following in this manner?
Thanks in advance.