Currently working on motion profiling and improving my code, and after reading several forums and resources - I’ve gotten a little confused.
So what i have understood is that 2D motion profiling is a control algorithm that controls the robot’s acceleration and velocity to minimize jerk.
I’m also aware that it outputs the robot’s position, heading, velocity, and acceleration that the robot is at after controlling it to minimize jerk.
What is the need for the robots position and heading if you can simply use odometry and/or inertial, or GPS?
How do i integrate this with my 3 wheel bot code and pid?
Do i use the pid output for chassis power, and run it through motion profiling and then power the chassis with tuned numbers? i think thats kinda how slew works, but idk about motion profiling.
Most of what i learned is from here - 2D Motion Profiling | OkapiLib A PROS library for programming VEX robots
(I also feel kinda misled from this article - is that all the code needed for motion profiling? what else do i need?)
Thanks