2015 FIRST World Championships Conference - Motion Planning & Control in FRC

[@Dave-mv1yk]

huge thanks from team 5449 I learned motion planning from a senior programmer who leaned it from here

[@davidlukens5706]

are the slides available for download or viewing?

[@Joshua-kz9vq]

docs.google.com/presentation/d/1xjtQ5m3Ay4AYxS_SfloF2n_vWZnCU25aXZuu9A59xPY/pub?start=false&loop=false&delayms=3000#slide=id.p

[@brandonhjelstrom4074]

I think the subtraction of setpoint.vel at 42:55 is incorrect.. Error deriv should be 0 given perfect feedforward tracking and your definition of error + error_last.

[@chadkrause6574]

At the end you described a board for high resolution encoders, can you clarify that? Is it a CAN based system that reads the encoder and updates the count via CAN or is it just a multiplier?

[@ArchishmaanOkonkwo]

Hi 118.

[@chrischen7967]

Could you provide more details about the custom gyro board? What IC/part number was used? Is there an update to it in the 2018 robot?

[@peterchacko8644]

How do come up with the waypoints?

[@rudolf-blue]

figuring them out on the field

[@peterchacko8644]

How can you find max velocity, max acceleration, max jerk, etc...?

[@Joshua-kz9vq]

By taking measurements for all of them on the physical robot.

[@JcbMrgn]

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