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Jerrylum / path.jerryio

The best path editor in VRC for designing skills routes and generating path files.
https://path.jerryio.com
GNU General Public License v3.0
32 stars 14 forks source link

:sparkles: Velocity Calculation Improvement #20

Closed SizzinSeal closed 5 months ago

SizzinSeal commented 9 months ago

Is your feature request related to a problem? Please describe. Bent Rate Application Range can be confusing to tune, and bent rate is not an accurate representation of how the robot should slow down around curves.

Describe the solution you'd like Radius should be used to calculate the speed at each point. This method is more accurate and easier to tune

Radius at any point can be calculated by this formula: radius_function

Maximum speed due to curvature can be calculated with this formula: speed_equation

where v is the maximum speed, r is the radius and u is the coefficient of friction. u is the value that should be tuned by the user. It is the coefficent of friction.

Jerrylum commented 9 months ago

Understand, waiting for your PR

Jerrylum commented 5 months ago

This is now solved in 0.6.0 by using curvature as the bent rate. More information can be found in the documentation: https://docs.path.jerryio.com/docs/user-guides/concepts#bent-rate-and-speed-calculation