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