Motion Profile Generator

Generate Motion Profiles to follow with a Talon SRX.

Motion Variables

• Time Step
  • The rate at which the control loop on the RoboRio runs
  • Units are in seconds
• Velocity
  • The max velocity rate your robot is capable of achieving
• Acceleration
  • The max acceleration rate your robot is capable of achieving
• Jerk
  • The rate of change of acceleration; that is, the derivative of acceleration with respect to time
• Wheel Base Width
  • The distance between your left and right wheels
• Wheel Base Depth
  • The distance between your front and back wheels
  • Used with the Swerve modifier
• Drive Base
  • The type of configuration your drive base is using
  • Can be Tank or Swerve
• Units
  • The unit of measurement used for measuring distance
  • Can be Imperial (ft) or Metric (m)
• Fit Method
  • The hermitic method for interpolating points from waypoints
  • Can be cubic or quintic

Waypoints

• All points are relative meaning you do not have to start at 0,0
• X
  • Forward and Backwards movement of the robot
  • Inrease X to move forwards
  • Decrease X to move backwards
• Y
  • Left and Right movement of the robot
  • Inrease Y to move left
  • Decrease Y to move right
• Angle
  • This is the ending angle after the robot reaches the point
  • The first point should always have an angle of Zero
• Editing existing points
  • Once you have added a point to the list you can double click on it to change it
  • After you have edited the point, the trajectory will be updated

Load Project

• Motion profile projects are saved in XML format. You can load them to continue editing them by using the "Open" option in. the "File" menu.
• Projects from the previous version, 2.3.0, can be loaded using "Import" option in the "File" menu.

Export Profile

1. Enter the root name for the trajectory as the file name
2. Choose the type of export you want to save the trajectories as
   • *.csv: Comma Separated Values, human readable
   • *.traj: Binary Trajectory file, not human readable

3-5 trajectories should be exported, depending on the type of drive base you use:

• Source trajectory: the center trajectory, what is created regardless of the drive base.

• Tank Drive:

  • Left Trajectory: trajectory for the left side of the drive base.
  • Right Trajectory: trajectory for the right side of the drive base.

• Swerve Drive:

  • Front-Left Trajectory: trajectory for the front-left motor of the drive base.
  • Front-Right Trajectory: trajectory for the front-right motor of the drive base.
  • Back-Left Trajectory: trajectory for the back-left motor of the drive base.
  • Back-Right Trajectory: trajectory for the back-right motor of the drive base.

Menu Bar

• File Menu
  • New: Clears all your waypoints and graphs allowing you to start over
  • Open: Opens a motion profile project (project files are *.xml)
  • Save: Saves to the working project file
  • Save As...: Saves the project to a new file
  • Import...: Imports a project from v2.3.0 .bot file
  • Export...: Exports the trajectory files to a directory
  • Settings...: Change application settings
  • Exit: Exits the application
• Help Menu
  • Help: Opens a browser window to this github
  • About: Displays a window with information about the app. ie: The app version and the developers

Settings

NOTE: Settings file saved to %user.dir%\.motion-profile-generator\mpg.properties

• Position graph overlay: 32:27 image to use as an overlay to the position chart

Environment / Build Information

• You will need the Eclipse IDE with the e(fx)clipse add-on
• You will also need at least JDK 8
• Install instructions for e(fx)clipse can be found here

Acknowledgments

• Jaci for the path generation code