ProfileGeneration

Tools for generating profiles for the 2018 FRC game Power Up.

There are a couple of steps in the workflow:

Step 1: Create the trajectory

Begin with the Java application PlanTrajectory. From the command line, standard usage is

java PlanTrajectory
java PlanTrajectory -r
java PlanTrajectory filename.csv
java PlanTrajectory -r filename.csv

The -r switch adds the robot in its initial configuration along the alliance wall. You may edit an existing trajectory that was previously saved in filename.csv.

Trajectories will be saved as a .csv file in the directory profiles.

Step 2: Edit the output trajectory to include command tags.

A trajectory file simply consists of waypoints, such as

16.25, 70.0
40.0, 30.0
100.0, 10.0
200.0, 30.0

To trigger the start of a command at one of the waypoints, simply add a tag for that command behind the waypoint:

16.25, 70.0
40.0, 30.0,raiselift
100.0, 10.0
200.0, 30.0

Step 3: Create a file to specify the velocity profiles

If the desired trajectory is stored in a file trajectory.csv, create a file named trajectory.velocities.csv. The format for this file consists of one line for each leg of the trajectory. Each line specifies the initial speed, the cruising speed, and the final speed for that leg expressed as a fraction of vmax.

0, 0.8, 0.8
0.8, 0.8, 0.8
0.8, 0.8, 0

Step 4: Create the profile

Use the python script python profile.py filename.csv The resulting file filename.profile.csv contains the profile.