Pros OkapiLib Motion Profiling


#1

Does anyone have any experience with the OkapiLib in Pros 3? I have been tinkering with the 2d motion profiling, which though it has been working for straight movements very well, it hasn’t been working for curved movements and wide turns. The robot has been undershooting the sideways component and angle turn while overshooting the forwards component. The program is all properly configured with the gains and chassis values to the best of my knowledge. Just looking for any help or suggestions.


#2

@kailasbk Did you manage to get it working? I’m planning on experimenting with it.
Also, did you try tuning the max acceleration, velocity, and jerk?


#3

for me, straight paths and paths that shift over left/right but still traveling forwards/backwards is fairly accurate. It is just the exit angles not working, so don’t turn with motion profiling


#4

hi,I have been tinkering with the 2d motion profiling too , which though it has been working for straight movements ,but i have some problem , its can’t work ,may i see u code ,please ,thank u