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Autonomous Routines
Goals and Tooling
One of the goals we set during the offseason was to upgrade our current autonomous pathing through the use of motion profiling. We had tried this in 2020, but had great difficulty in getting off the ground. This year, we did more research and we were able to get ahead of the curve before we started development. We used the WPILib toolsuite for designing and running autonomous paths with trajectories using Ramsete controllers, odometry, and the Pathweaver drawing app. We tested the pipeline of characterization (to determine necessary controllers and constants), generating and compiling a drawn path, and executing the path on Romis. This allowed us to gain experience with the process in creating and tuning robust autonomous paths. We were able to put this to the test on our robot, giving us the ability to create many different paths and adapt to unpredictable situations.
Fig 4.5: Romi robot - primary test board for our autonomous routines and runs the same code as the main robot and comes with a Raspberry Pi for additional communication