/Motion_Profile_Generator

Generate motion profiles to follow with a talon srx.

Primary LanguageJavaMIT LicenseMIT

Motion Profile Generator

Generate Motion Profiles to follow with a Talon SRX

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Motion Variables

  • 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

  • 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

  • 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

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Acknowledgments