Stuzzy's Scouter

Provides a path and commands for the robot to follow autonomously.
Generates PID values and coordinate/rotation points for the robot to follow using a pure pursuit algorithm.

Installation

Download Latest Release

Usage

Click to create points

• Easy mode enabled
  • click to add new curves
• Advanced mode
  • first two points sets the endpoints of the curve
  • points made afterwords set control points

Create coordinate specific point

• press "a" then type the coordinates of the point EX:( Add point(<x,y>): 100, 50) or (Add point(<x,y>): 69,420)
• press "ENTER" to add the point, or "ESC: to cancel

Editing points

• drag points around to edit their location
• pressing "DELETE" key will delete point closest to the mouse pointer

Undo

• press "CTRL+Z" to undo changes done to points

Editing speed

• hold "UP" and "DOWN" arrow keys

Adding Wait Points

• press "w" and type the duration of the wait in milliseconds(can be a decimal) and press "ENTER"
• use the left/right arrow keys to move your control dot along the curve, and press "w" to lock it in place

Adding new curves

• press "n" to add curve in front, and click to set second curve endpoint
• press "b" to add curve in back, and click to set second curve endpoint
• next points set control points

Navigating curves

• press "n" to go to next curve
• press "b" to go to previous curve

Exporting curves

• press "e" then type the number of waypoints that each curve will have
• press "ENTER" to export, or "ESC" to cancel export
• Points.java file will apear in main directory
• move Points.java to "src/frc/team578/robot/subsystems/swerve/motionProfiling" in robot code and overwrite the pre-existing file

Save simulation

• press "s" to save
  • if first time saving, enter save name and press "Enter" to save, or "ESC" to cancel
• simulation can be selected in menu on startup

Rotations

• press "r" to move arrow at the the last endpoint of your curve
• click to set the new arrow position, which represents the robot's rotation

Run Command in Robot Code

• press "C" and type the name of your command class and press "ENTER" EX: for ShootBall.java type ShootBall
• use the left/right arrow keys to move your control dot along the curve, and press "C" to lock it in place
• the robot will run the execute() method when it reaches this point

Robot PID Simulation

• press "SPACE" to run a simulation of the robot following the position
• robot with a red highlight indicates it is skidding on the surface
• editing robot values
  • press "p" to edit pid constants
  • change data on specific robot in data/robot.stats

Main Menu

• press "M" to return to the main menu

Drawing

• press "D" or any number key and press and hold to draw
• number keys change size the size, 0 is erase
• LEFT and RIGHT keys change the color
• press "C" while drawing to clear your drawing screen

Other Info

Papers used for Bezier Curve research