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baylessj / robotsquiggles

A library for generating spline-based paths for robots.
https://squiggles.readthedocs.io
MIT License
35 stars 3 forks source link

Add support for going backwards through paths #17

Closed baylessj closed 4 years ago

baylessj commented 4 years ago

Can't remember if this is something that should get added to path profiling or if it can be tacked on later

Octogonapus commented 4 years ago

Ideally, paths can include negative wheel velocities. At this point, OkapiLib is committed to supporting the following of paths in a reversed fashion, but I want to avoid having users do this if at all possible. It's always more intuitive to generate a path that has the robot go backwards than to reverse a path.

We must also consider paths that include both positive and negative wheel velocities, like paths that include tight turns. I would like to see support for these paths as well.

baylessj commented 4 years ago

That makes sense, it had been a minute since I looked at how Okapilib handles reversing paths. I can work on supporting reversed paths.

As for supporting both positive and negative wheel velocities, that's currently supported when going forward at least :smile:

Octogonapus commented 4 years ago

I can work on supporting reversed paths.

OkapiLib works by negating the target wheel velocities after the motion profile is generated, so no support is required from the motion profile generator.