Okapi pathfinder

tabor473 · March 7, 2020, 2:40am

Edit: turns out trusting someone else’s solution was not good idea. While this will slow the robot down, it will lose the trajectory completely. Keep reading for proper answer.

Ya @rpm answered you last time you asked yesterday. They just did it in a pretty confusing way.

Here is what they wanted you to see

github.com

timeconfusing/OkapiLVGL/blob/v0.2.1-pros3.2.1-okapi4.0.3/src/mab.cpp#L86


      
          profileControllerM->setTarget("C");
          profileControllerS->removePath("B");
          profileControllerM->generatePath({{0_in, 0_in, 0_deg}, {24_in, 0_in, 0_deg}}, "D");
          profileControllerM->waitUntilSettled();
          
          profileControllerM->setTarget("D",true);
          profileControllerM->removePath("C");
          profileControllerS->generatePath({{0_in, 0_in, 0_deg}, {12_in, 0_in, 0_deg}}, "E");
          profileControllerM->waitUntilSettled();
          
          chassis->getModel()->setMaxVelocity(gearing*.25);
          chassis->turnAngle(-270_deg);
          chassis->getModel()->setMaxVelocity(gearing);
          
          profileControllerS->setTarget("E");
          profileControllerS->waitUntilSettled();
          profileControllerS->removePath("E");
          }
          
          void mabl3() {
          info_printf(1,"in mabl3");