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tylertian123 / RobotPathfinder

Robot motion profiler/path planner for use in FRC Java programming
MIT License
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Devise an algorithm to convert wheel movements to robot position #37

Closed tylertian123 closed 5 years ago

tylertian123 commented 5 years ago

Devise an algorithm that takes individual wheel movements at points in time and calculate the robot's path from the data in order to know the robot's position.

tylertian123 commented 5 years ago

Needs testing...

tylertian123 commented 5 years ago

Brach test/pos-int in frc-2019 was created to test the algorithm's feasibility.

tylertian123 commented 5 years ago

First try failed pretty badly. The positions and directions were all wrong, and somehow it also broke the driving. Further testing is needed.

tylertian123 commented 5 years ago

Branch renamed to pos-integration.

tylertian123 commented 5 years ago

The 2020 release of WPILib seems to contain odometry classes! They can be used to estimate the robot's position: https://docs.wpilib.org/en/latest/docs/software/kinematics-and-odometry/differential-drive-odometry.html

tylertian123 commented 5 years ago

Merged with #38.