jlbabilino
commented
1 year ago Until I actually add this, here's a quick summary:
- Always use custom waypoints. The other ones don't work and need to be removed.
- The first waypoint must have a control interval count of 0. The rest can just be around 40. Basically, this number defines how much resolution the solver uses for the segment leading up to the waypoint. Higher makes a smoother trajectory, but takes longer to compute. All you really ever need is about 40 though. The first waypoint doesn't have a segment leading up, that's why it's 0.
- The first and last waypoint must have a velocity constraint of zero. To do this, right click each one and click "Edit". Then check the boxes that say "Velocity X Constrained," "Velocity Y Constrained," "Velocity Magnitude Constrained," and "Angular Velocity Constrained." This is because the robot needs to start out stopped and end stopped.
- Clicking
Generatetakes a bit of time but once it's done, it saves the optimized trajectory within the app. - After generation, you can animate the trajectory with the slider bar and the
Animatebutton. - To export it to your robot code, click the export button, then save the json in the robot code's
deploydirectory. - Here's an example of how to use it within WPILib robot code:
rickshaw5724
Sorry again to open an issue. Not sure how else to ask this. My programmer has used the Helix Navigator to set up some way points and obstacles, but sadly we can't figure out how to generate the output coordinates data to use in the class that extends path. Do you use export it somehow? Maybe the generate button puts a file somewhere? Thanks, in advance.