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SleipnirGroup / Choreo

A graphical tool for planning time-optimized trajectories for autonomous mobile robots in the FIRST Robotics Competition.
BSD 3-Clause "New" or "Revised" License
129 stars 38 forks source link

Low gear ratios cause "Infeasible Problem" #774

Open ThatChair opened 3 days ago

ThatChair commented 3 days ago

This year, our robot had a very low gear ratio (3.14 : 1 to be precise). However, when I enter this gear ratio into Choreo, I always get an "Infeasible Problem Detected" and the path will not generate. Our settings are shown below.

image

Is there any way to work around or fix this? We would love to use Choreo, but we have just defaulted to telling it our robot weighs 120kg to get it to accelerate slowly enough.

bruingineer commented 3 days ago

Have you tried using a lower motor torque?

I can look into this issue this week.

bruingineer commented 2 days ago

@ThatChair would you be able to share your choreo file? You can use the "export diagnostic report" in the menu to generate the zip file image