For today, june 14 - Githubissues

frc4039 / 2016

Stronghold

2 stars 0 forks source link

For today, june 14 #8

Closed cbastarache closed 8 years ago

cbastarache commented 8 years ago

in order

[x] fix distance to end of path bug
[x] change path PID over to simPID
[ ] ~~tune the PID and point error to allow for smooth path following~~
[x] add to drive speed controller a reduction if angle from path is too large
[x] add ability to turn to angle at the end of the path
[x] make a real auto mode that mimics auto from this year @benjittk @MrBacca @woolfelucas

cbastarache commented 8 years ago

Distance to end of path idea:

working in path.h and path.cpp add a function that builds an array of the same length of the path. It then fills in each index (probably backwards) with the distance to the end of the path from the point you are at. This is basically an integral.for example
- x[last point] = 0
- x[last point - 1] = distance between the last two points
- x[last point - 2] = x[last point - 1] + distance between the second last two points
- etc...
- x[0] = total length of path as calculated