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To implement:
- Trapezoidal control (would take place of PID)
- S-curve trapezoidal control
- Path/trajectory planning
- Path/trajectory following
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We need better motion profiling.
This is an epic placeholder story until we can break it into smaller stories.
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# Proposed Functionality
The robot can drive a curve in autonomous mode, as opposed to stopping and turning in place. This allows the robot to maintain momentum and therefore complete any driving …
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Using Atif's code from last year and Team 254's library.
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### Drive the robot 100 feet and see if the length factor variable is correct
- do so by entering it in the robot code and using shuffleboard to see if units in feet are correct
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So there are certain commands for which we may want to do a smooth motion profile. For example, driving straight. Right now we just start applying power and assume that we will get up to speed quickly…
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We shouldn't be using dead reckoning (drive for X seconds) for auto. I know we've been using it and it's worked okay but we can do better.
Last time we tried it during unbag the robot started turning…
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Create a command that will run a motion profile that is generated from PathWeaver. This will enable us to quickly generate autonomous paths based on position.
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- Instead of using PercentOutput, the drive subsystem should use velocity control, with motion profiling if possible.
- Talons should be configured in a Master/Slave pair, instead of independent …
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- identify and try motion profiling tools
- come up with an example POC
- develop and test the POC
- get image of this year's field into motion profiling tool
- update wiki with progress and findi…