search

wpilibsuite / PathWeaver

Desktop application for generating motion paths
Other
64 stars 68 forks source link

Time Step Value Gone? #173

Closed babbott1000 closed 4 years ago

babbott1000 commented 4 years ago

In the 2020 version of PathWeaver, the Time Step(and Max Jerk) field(s) are omitted. What is the reason behind this and how is the time step now calculated? Is this adjustable somehow? Am I missing something?

prateekma commented 4 years ago

There is no fixed time-step for trajectories anymore. A user can calculate the trajectory state at any time since the start of the trajectory due to the way we interpolate between trajectory states.

The 2020 trajectory generation does not support jerk limiting, and therefore only generates trapezoid profiles. Jerk limiting is really not needed for drivetrains and a more comprehensive DifferentialDriveDynamicsConstraint exists for ensuring that drive dynamics are obeyed when generating a trajectory.

See here: https://docs.wpilib.org/en/latest/docs/software/advanced-control/trajectories/manipulating-trajectories.html