Pathfinder
ultimategoal
Pathfinder | ultimategoal | |
---|---|---|
2 | 1 | |
2 | 1 | |
- | - | |
0.0 | 7.4 | |
over 2 years ago | over 2 years ago | |
Java | Java | |
GNU General Public License v3.0 only | - |
Stars - the number of stars that a project has on GitHub. Growth - month over month growth in stars.
Activity is a relative number indicating how actively a project is being developed. Recent commits have higher weight than older ones.
For example, an activity of 9.0 indicates that a project is amongst the top 10% of the most actively developed projects that we are tracking.
Pathfinder
-
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??
ultimategoal
-
Dc Motor encoder position
The easiest way that I've done this is by setting the ZeroPowerBehavior of the motor to BRAKE, like this: yourMotor.setZeroPowerBehavior(Motor.ZeroPowerBehavior.BRAKE);. It should keep your motor in the same position when it isn't being moved, but apparently it doesn't work for all motors. Here's how we use it if you want to take a look: https://github.com/grizzlybots11918/ultimategoal/blob/136298379e60662888d5bb87680344ff1a63ac98/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/TempClaw.java#L17. We're using FTCLib but I believe the method and enum are the same with the vanilla SDK.
What are some alternatives?
QDriverStation - Cross-platform clone of the FRC Driver Station
PowerPlay - This is the source code repository for FTC#16379 KookyBotz for the 2022-2023 PowerPlay season.
allwpilib - Official Repository of WPILibJ and WPILibC
EOCV-Sim - Develop, test, and tune your EasyOpenCV pipelines directly on your computer with a simple GUI !
Pathfinder2 - Paths, trajectories, splines, the number 2, and a whole lot of swag.
PowerPlaySleeveDetection - This is a template repository, used for other teams to copy the Vision Pipeline when detecting the Signal Sleeve in the FIRST Tech Challenge 2022-2023 Game PowerPlay.
TitanUtil - A collection of utility classes to make robot programming easier
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.
OdometryCore - Odometry Core Tracking Algorithm Written in Java
ScoutingPASS - A FRC Competition Scouting Application