Determine Improved Trajectory System

[SherazF]

We used PathPlanner for trajectory planning this year. While it mostly worked, we ran into a few issues that we would like to improve for next year. Some issues inculded:

• Being unable to specify start/end velocities of trajectories
• Not easily convertable to using a global coordinate system
• Couldn't reliably push trajectory changes to the robot without a code redeploy

Potential Options (Checked off if looked at):

• [ ] Code Orange's AutoBuilder: https://github.com/FRC3476/AutoBuilder https://www.chiefdelphi.com/t/code-orange-3476-code-release/436323

  Code is all written by one person who will be graduating, so code will not be maintained beyond this season

• [ ] Modifying Andrew Kempen's FTC Trajectory Planner

  Code can be adapted for FRC usage and already has logic to calculate paths well, good option to consider. Code allows for many different unique waypoint features, need to check if this option requires us to deploy every time we make a change, and also if we are able to specify start/end velocities of individual trajectories.

• [ ] Develop our own trajectory tool

[github-actions[bot]]

This issue has been automatically marked as stale because it has not had recent activity. It will be closed if no further activity occurs. Thank you for your contributions.

[github-actions[bot]]

This issue has been automatically closed because it has not had recent activity. If you believe this was done in error, please comment or reopen the issue. Thank you for your contributions.