Motion Profiling

[dltompki]

Proposed Functionality

The robot can drive a curve in autonomous mode, as opposed to stopping and turning in place. This allows the robot to maintain momentum and therefore complete any driving faster.

Suggested Implementation

We've never done this before. I'm not really sure how we would do it. I think we would end up with a series of movement commands, like in #12. Maybe it would then go in a parallel command group with any manipulator stuff we have to do?

Resources

https://github.com/JaciBrunning/Pathfinder
http://www.allendalerobotics.com/getattachment/e7c51beb-ad93-4265-b45e-96f61e3d9a2d/2018-Controls-Motion-Profiling.aspx

[dltompki]

New resources:
https://docs.wpilib.org/en/stable/docs/software/examples-tutorials/trajectory-tutorial/index.html
https://docs.wpilib.org/en/stable/docs/software/advanced-controls/trajectories/index.html