Pathfinder
QDriverStation
Pathfinder | QDriverStation | |
---|---|---|
2 | 1 | |
2 | 181 | |
- | 2.2% | |
0.0 | 2.6 | |
over 2 years ago | about 2 months ago | |
Java | QML | |
GNU General Public License v3.0 only | MIT License |
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Pathfinder
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Robot localization with on-motor encoders
hey, i just figured i’d put this out here in case it helps: meccanum wheels, by nature, have a LOT of slip - that’s how they’re able to move in any direction. i’ve had quite a bit of experience with the math and kinematic behind this (two libraries i’ve written/am writing, Pathfinder and Pathfinder2, as well as a library the other programmer on my team wrote, OdometryCore) and it’s VERY HARD to accurately track the position of a meccanum robot only using the encoders in the wheels. it’s not impossible, but it’s very, very challenging. the more your robot moves, the less accurate it becomes, and it will very quickly report positions that are nowhere near where your robot actually is. you can go for it, but i would strongly encourage you check out three wheel odometry instead - it’s been very accurate and allowed us to do really cool things, like accurately record a robot’s movement and play it back perfectly. you’ll have much more success with three wheel odometry - my team designed a custom odometry system and i’m sure they’d be happy to give you more information if you’d like. best of luck :)
- Where to learn how to set up Odometry??
QDriverStation
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Can we talk about Linux for a moment?
But those two things should be relatively trivial to port to Linux compared to the hell that is the driver station. There is the QDriverStation, but its not a real solution, since the contributors there are having to reverse engineer all the protocol changes. A first party solution is needed.
What are some alternatives?
allwpilib - Official Repository of WPILibJ and WPILibC
physical_education - A library for research into legged critters
Pathfinder2 - Paths, trajectories, splines, the number 2, and a whole lot of swag.
peregrine-backend - The future of FRC scouting
TitanUtil - A collection of utility classes to make robot programming easier
CppRobotics - Header-only C++ library for robotics, control, and path planning algorithms. Work in progress, contributions are welcome!
AutoBuilder - A gui tool for graphically designing and testing autos in FRC
javabot-2022 - A Java rewrite and improvement of Team 2539's 2022 robot code.
control-toolbox - The Control Toolbox - An Open-Source C++ Library for Robotics, Optimal and Model Predictive Control
OdometryCore - Odometry Core Tracking Algorithm Written in Java
Conductor - A cross-platform FRC Driver Station written with Rust and React