Auto Pathing

[devsamuelv]

The goal is for this robot to execute auto paths similar to 2021 like the slalom, barrel racing, and bounce run. Each objective should have a recording of the final product.

Goals

• Run paths in simulator
  • Integrate PathPlanner into WPI Simulator.
  • Configure simulator UI for paths.
• Perform a successful slalom run:
  • Must be reliable. At least 5 runs with mirrored results.
  • The whole path must be complete in less than 10 seconds.
• Perform a successful barrel run:
  • Must be reliable. At least 5 runs with mirrored results.
  • The whole path must be complete in less than 8 seconds.
• Perform a successful bounce run:
  • Must be reliable. At least 5 runs with mirrored results.
  • The whole path must be complete in less than 7 seconds.

Side Quests

• Explore drivetrain drifting as mentioned on chiefdelphi

Resources

• Field Relative Drift Thread
• Angular Drift Adjuster Tool
• Field Relative Skew Whitepaper & Thread
• Swerve Drive Math

Slalom Path

Barrel Path

Bounce Path