Generate Motion Profiles to follow with a Talon SRX.
- Time Step
- The rate at which the control loop on the RoboRio runs
- Units are in seconds
- Velocity
- The max velocity rate your robot is capable of achieving
- Acceleration
- The max acceleration rate your robot is capable of achieving
- Jerk
- The rate of change of acceleration; that is, the derivative of acceleration with respect to time
- Wheel Base Width
- The distance between your left and right wheels
- Wheel Base Depth
- The distance between your front and back wheels
- Used with the Swerve modifier
- Drive Base
- The type of configuration your drive base is using
- Can be Tank or Swerve
- Units
- The unit of measurement used for measuring distance
- Can be Imperial (ft) or Metric (m)
- Fit Method
- The hermitic method for interpolating points from waypoints
- Can be cubic or quintic
- All points are relative meaning you do not have to start at 0,0
- X
- Forward and Backwards movement of the robot
- Inrease X to move forwards
- Decrease X to move backwards
- Y
- Left and Right movement of the robot
- Inrease Y to move left
- Decrease Y to move right
- Angle
- This is the ending angle after the robot reaches the point
- The first point should always have an angle of Zero
- Editing existing points
- Once you have added a point to the list you can double click on it to change it
- After you have edited the point, the trajectory will be updated
- Motion profile projects are saved in XML format. You can load them to continue editing them by using the "Open" option in. the "File" menu.
- Projects from the previous version, 2.3.0, can be loaded using "Import" option in the "File" menu.
- Enter the root name for the trajectory as the file name
- Choose the type of export you want to save the trajectories as
- *.csv: Comma Separated Values, human readable
- *.traj: Binary Trajectory file, not human readable
3-5 trajectories should be exported, depending on the type of drive base you use:
-
Source trajectory: the center trajectory, what is created regardless of the drive base.
-
Tank Drive:
- Left Trajectory: trajectory for the left side of the drive base.
- Right Trajectory: trajectory for the right side of the drive base.
-
Swerve Drive:
- Front-Left Trajectory: trajectory for the front-left motor of the drive base.
- Front-Right Trajectory: trajectory for the front-right motor of the drive base.
- Back-Left Trajectory: trajectory for the back-left motor of the drive base.
- Back-Right Trajectory: trajectory for the back-right motor of the drive base.
- File Menu
- New: Clears all your waypoints and graphs allowing you to start over
- Open: Opens a motion profile project (project files are *.xml)
- Save: Saves to the working project file
- Save As...: Saves the project to a new file
- Import...: Imports a project from v2.3.0 .bot file
- Export...: Exports the trajectory files to a directory
- Settings...: Change application settings
- Exit: Exits the application
- Help Menu
- Help: Opens a browser window to this github
- About: Displays a window with information about the app. ie: The app version and the developers
NOTE: Settings file saved to %user.dir%\.motion-profile-generator\mpg.properties
- Position graph overlay: 32:27 image to use as an overlay to the position chart
- You will need JDK 8
- In the project folder run
gradle build - The JAR artifact will be created in the build folder
If you wish to change how pathfinder works, and want to see the results within the Motion Profiler, there are a few files to copy.
First, apply the patch file provided: Pathfinder_modify.patch.
This disables the loading of native files, because the Motion Profiler takes care of that.
The files to copy are:
Pathfinder-Java/build/libs/pathfinderjava/shared/any64/libpathfinderjava.so -> lib/native_utils/pathfinderjava.so
Pathfinder-Java/build/libs/Pathfinder-Java-1.8.jar
Pathfinder-Java/build/libs/Pathfinder-Java-1.8-javadoc.jar
Pathfinder-Java/build/libs/Pathfinder-Java-1.8-sources.jar
- Jaci for the path generation code