MotionProfile

Code to generate and use motion profiles for smooth autonomous movement

This is Techno Ticks package, just like Updater, Tickanum, Standard, etc. This means that it is designed to be easy to incorporate into your robot project, and it is meant to be abstract enough to run not only on an FRC robot, but any robot that runs java.

Installing

If your robot project (workspace/robot) is not a git project, this is very simple. Just open the command line, navigate to workspace/robot/src and type the following command:

git clone https://github.com/Team236/MotionProfile.git motionProfile
git clone https://github.com/Team236/Updater.git updater

If your robot project is a git project, then you have to add it as a git submodule. This is an experimental feature that hasn't existed for too long, so keep in mind that it's not perfect for more complex purposes. For what we're doing, however, it's perfect. Just navigate to workspace/robot/src and type the following commands:

git submodule add https://github.com/Team236/MotionProfile.git motionProfile
git submodule add https://github.com/Team236/Updater.git updater
git submodule init

This will import the module and create unstaged changes. You will have to commit this change, and commit your change whenever you update the module.

After this, your tree should look like this:

MyRobot
    src
        motionProfile
        updater
        org
            first
                ...

Using

Motion Profiles are easy to create, and moderately more difficult to follow. You can look at our 2016-Robot project for an example of how to implement this.

Generation

Generating a profile is very simple. First, you need to tune it, and this is mostly trial and error. First, pick how far you want to go. At this point, you have to pick units. For most purposes, I recommend measuring in inches, so you can avoid doing obnoxious conversions to decimal, which is really no fun with the standard system. If you can use metric, know that I envy you. Anyways, the profiler is totally unit-agnostic, meaning its output is in whatever units you put into it.