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autonomous_routine_path_planning [2022/09/13 21:45] – rfhuangautonomous_routine_path_planning [2022/09/13 21:51] (current) – rfhuang
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 ===== Architecture (Sequential) ===== ===== Architecture (Sequential) =====
  
-  -Using PathWeaver we input a path + splines which gets transformed to key points in a JSON file.+1. Using PathWeaver with path + splines as inputs, the desired path is turned into JSON which is machine readable to become a RamseteCommand.
 {{ ::screen_shot_2022-09-13_at_9.38.44_pm.png?400 |}} {{ ::screen_shot_2022-09-13_at_9.38.44_pm.png?400 |}}
-  -TrajectorySequence.java takes in those generated path files, combines it with our drivebase PID constants into a RamseteCommand.+2. TrajectorySequence.java takes in those generated path files, combines it with our drivebase PID constants into a completed RamseteCommand.
 <code java> public TrajectorySequence(Drivebase drivetrain, String ... paths) { <code java> public TrajectorySequence(Drivebase drivetrain, String ... paths) {
     drivebase = drivetrain;     drivebase = drivetrain;
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     return null;     return null;
   }</code>   }</code>
-  -We choose which path to run using a pre-generated GUI in SmartDashbaord, this happens in AutoSelector.java+3. Using a pre-generated GUI in SmartDashbaord the desired path is chosen, this happens in AutoSelector.java. The selected path is able to be read by our code when the match begins.
 <code java>public AutoSelector(Drivebase drivebase, Superstructure superstructure, Vision vision) { <code java>public AutoSelector(Drivebase drivebase, Superstructure superstructure, Vision vision) {
     chooser.setDefaultOption("5 Ball", new SequentialCommandGroup(     chooser.setDefaultOption("5 Ball", new SequentialCommandGroup(
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     return chooser.getSelected();     return chooser.getSelected();
   }</code>   }</code>
-  -On match start the RamseteCommand is run in RobotContainer.java, once this runs this will take in the gyroscope and Drivebase controller inputs to make sure that each point is being hit.+4. The selected path is taken from the GUI at game start. After that, the RamseteCommand is generated and executed in RobotContainer.java, where it will receive inputs from the drivebase controller and gyroscope to confirm that each point has been reached. If the points have not been hit, the code will adjust accordingly.
  
autonomous_routine_path_planning.txt · Last modified: 2022/09/13 21:51 by rfhuang