roshanr10
commented
7 years ago https://www.chiefdelphi.com/forums/showthread.php?t=156921&page=2
If this can use the Pigeon IMU directly in motion profiling this season to do heading correction, I think we might be better off with that than us trying to use a NavX and calculating stuff ourselves. Waiting to hear from CTRE.
As per #5, we were able to create a trajectory given input waypoints.
Next step is to follow this trajectory, Pathfinder has their own code to do so: https://github.com/JacisNonsense/Pathfinder/wiki/Pathfinder-for-FRC---Java#following-a-trajectory. We should also integrate gyro input, as shown in their example.
However, this uses raw voltage control, and does not take advantage of the motion profile mode that the Talon SRXs have. We need to do some more research into how we can use the motion profile mode, while still introducing gyro control.
This Chief Delphi Thread details some of the options: https://www.chiefdelphi.com/forums/showthread.php?t=156726.
CTR Electronics Talon SRX Motion Profiling Manual: https://www.ctr-electronics.com/downloads/pdf/Talon%20SRX%20Motion%20Profile%20Reference%20Manual.pdf
Here's a sample of Reading's code: https://github.com/Team4761/2017-Robot-Code/blob/0db905865d212a287a3b2f1e69ded5c1e46abcf7/src/org/robockets/steamworks/mystery/FollowTrajectory.java
Here's the sample drive straight in terms of the output trajectory data: Center Trajectory Left Trajectory Right Trajectory