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Base robot code
several of the methods return a copy of the path class, while others update it and return void.
All commands should be in the same folder
examples:
Max velocity
Velocity K
Max accelration
Lookahed distance
Smoothing
Weight data
Weight smooth
Tolerance
Controller
kV = 1 / Max velocity
kA = 0.002
kP = 0.01
Use VictorSPX
While stopping using pure pursuit is pretty consistent, it isnt a calculated method like last year.
Here is the explanation from the article:
Our controller stops when the closest point to the robot is the last point in the path. Because our points are spaced 6” apart, this means the robot stops about 3” from the end of the path. This stopping behavior has worked well for us because it means the inertia of the robot carries it to our end point, instead of past it. The pure pursuit controller is consistent enough that it’s easy to adjust the path if it’s not stopping in the exact place you want.
Now compare this to the PID method, that ensures it accurately reaches the final setpoint.
Maybe we could even have a hybrid between pure pursuit, and when it reaches the end of the path, to use pid.
Allow the path to be relative by saving the initial angle and the initial position.
Add hyper links to Galaxia and FIRST's websites.
Instead of having to write all five generate methods one after another, we should create a method that does it all for us, in the right order.
After done testing the pure pursuit, we need to see whether the code still works when reversed.
Currently the angle is 0 degrees when the robot is facing the positive Y direction, even though all calculations work when the robot angle nulls out at facing east.
Move into constants file: lookahead distance, distance between waypoints
split each branch into a fix-branch and fix all problems when using getWaypoint() and Vector.add() in the code.
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