Description
Given an updated trajectory and the ability to calculate the next point from #37, we need to determine the action motion will need to take to meet the trajectory goals.
Trajectory points are more than GPS coordinates, they contain other data such as heading and velocity. Meeting the GPS goals is a start, but the other data must be considered as part of the trajectory goal.
Action to take
Given the current robot state (given by the EKF in #26) and the trajectory points, set the desired motor power and heading of the robot. Almost every variable from the EKF will need to be used, if not all of them, to determine what the robot can do between trajectory points.
Goal
The goal of this part is for the robot to achieve the desired trajectory data given by the next point in the trajectory right by the time it reaches the point. It also needs to get to the correct point obviously
Description Given an updated trajectory and the ability to calculate the next point from #37, we need to determine the action motion will need to take to meet the trajectory goals. Trajectory points are more than GPS coordinates, they contain other data such as heading and velocity. Meeting the GPS goals is a start, but the other data must be considered as part of the trajectory goal.
Action to take Given the current robot state (given by the EKF in #26) and the trajectory points, set the desired motor power and heading of the robot. Almost every variable from the EKF will need to be used, if not all of them, to determine what the robot can do between trajectory points.
Goal The goal of this part is for the robot to achieve the desired trajectory data given by the next point in the trajectory right by the time it reaches the point. It also needs to get to the correct point obviously