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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
144 stars 42 forks source link

Add mecanum support #853

Open spacey-sooty opened 3 weeks ago

spacey-sooty commented 3 weeks ago

Pipe dream for if any FTC teams wanted to use Choreo for 2027

oh-yes-0-fps commented 3 weeks ago

If the dynamics are too difficult how silly would it be to just use splines? So they could take advantage of the choreo app/lib instead of just leaving them out all together.

calcmogul commented 3 weeks ago

Using splines defeats the purpose of Choreo.

Mecanum drive dynamics are basically swerve drive with the force vector directions constrained in the robot frame. For example, differential drive force vectors are constrained to forward, and mecanum drive force vectors are constrained to 45° angles.