Motion Profile Generator

Generate Motion Profiles to follow with a Talon SRX

Motion Variables

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• Units
  • Units can be chosen via a drop down menu
  • Feet or Meters
• 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
  • Units are in ft/s or m/s
• Acceleration
  • The max acceleration rate your robot is capable of achieving
  • Units are in ft/s/s or m/s/s
• Jerk
  • The rate of change of acceleration; that is, the derivative of acceleration with respect to time
  • Units are in ft/s/s/s or m/s/s/s
• Wheel Base W
  • The distance between your left and right wheels
  • Units are in feet or meters
• Wheel Base D
  • The distance between your front and back wheels
  • Used with the Swerve modifier
  • Units are in feet or meters

Waypoints

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• 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.
  • The old point will be deleted and the edited point will take that place
  • After the point is replaced it will go back to normal behavoir and add points to the end

Load in previous Profile

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• When you save your profile, a preference file is also saved with your settings and waypoints as a text file with a .bot extention
• Press the "Load Profile" option in the File menu to choose the preference file
• Your profile settings will be imported for you to use

Save Profile to CSV

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• Enter the file name in the File Name text box
• Click the Browse button to choose the directory you want to save the profiles in
• Click the Save button or the "File/Save Profile" Menu option to save the profiles
• The motion profiles are saved as CSV files. One for each left and right
  • Detailed CSV
    • This file contains more information than the normal CSV
      • It contains Time Step, X, Y, Position, Velocity, Acceleration, Jerk, and Heading
    • This is the CSV generated by Jacis code
    • Thus it can be used with Jacis code like this

       File myFile = new File("myfile.csv");
       Trajectory trajectory = Pathfinder.readFromCSV(myFile);

  • Normal CSV
    • Only position, velocity, and time step are output to this file
    • This is the file you will put on your RoboRio and use with the Talon SRX Motion

Menu Bar

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• File Menu
  • New Profile
    • Clears all your waypoints and graphs allowing you to start over
  • Save Profile
    • Allows you to save your profiles
  • Load Profile
    • Allows you to load a previous profile
  • Exit
    • Exit 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

Acknowledgments

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• Jaci for the path generation code
• KHEngineering for the graph code