AusreisserSF
commented
1 week ago Our team has seen exactly the problem you described. We started from the example in the Roadrunner 1.0 documentation - "Building a CENTERSTAGE Autonomous" - but our adaptation didn't work; the simple lineTo in the toSample1 Action causes the robot to stutter in place. The comments I have inserted in this shortened example explain why: MecanumDrive drive = new MecanumDrive(hardwareMap, new Pose2d(14.76, -62.89, Math.toRadians(90)));
// This is the first trajectory Action after the creation of the instance
// of MecanumDrive so the use of drive.pose is ok here.
Action toSubmersible = drive.actionBuilder(drive.pose)
.splineToSplineHeading(new Pose2d(6.44, -35.0, Math.toRadians(90)), Math.toRadians(90))
.build();
// The field drive.pose is not actually used here. This Action is just a
// placeholder.
Action hangSpecimen = drive.actionBuilder(drive.pose)
.waitSeconds(2)
.build();
// This Action depends on the ending pose of toSubmersible, not drive.pose as it
// is captured here at the time toSample1 is constructed.
Action toSample1 = drive.actionBuilder(drive.pose)
.lineToY(-48)
.build();
Actions.runBlocking(
new SequentialAction(
toSubmersible,
hangSpecimen,
toSample1
)
);To get around this problem the students simply hard-coded the expected pose in toSample 1 instead of using drive.pose. There is another way of solving this problem by deferring the creation of the toSample1 Action until after toSubmersible has completed but it's somewhat more complex. Phil Young Software mentor, FTC Team 4348 Notre Dame High School, Sherman Oaks, CA
rbrott
RR FTC Version
0.1.13
Observed Behavior
When creating trajectories, unexpected behavior happens when using sequential action when switching from one trajectory to the next. For example, I made a trajectory (trajOne), and another (trajTwo). When moving from trajOne to trajTwo using the sequential action, the robot moves erratically to the first position in trajTwo, changing heading and position wildly before getting to the correct position. If I put all the motions in trajOne, this doesn't occur.
Tuning Files
No response
Robot Logs
No response