started to rework the create trajectory function for jerk testing

SPD3 · Oct 7, 2017 · 5cce2e6 · 5cce2e6
1 parent 68437ce
commit 5cce2e6
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Showing 4 changed files with 7 additions and 3 deletions.
diff --git a/eclipse-workspace/MotionProfiling/bin/kinematics/KinematicsSimpler.class b/eclipse-workspace/MotionProfiling/bin/kinematics/KinematicsSimpler.class
diff --git a/...onProfiling/bin/org/usfirst/frc4905/MotionProfiling/commands/MotionProfilingTesting.class b/...onProfiling/bin/org/usfirst/frc4905/MotionProfiling/commands/MotionProfilingTesting.class
diff --git a/eclipse-workspace/MotionProfiling/src/kinematics/KinematicsSimpler.java b/eclipse-workspace/MotionProfiling/src/kinematics/KinematicsSimpler.java
@@ -264,8 +264,12 @@ public void createTrajectory(Path Key, double maxVelocity, double maxAcceleratio
 			 */
 
 			if (theoreticalMaxVelocity > setpoint.maxVelocity) {
-				double distanceAccelerating = getDistanceTraveledWhileAccelerating(setpoint.vi, setpoint.maxVelocity,
-						Key.maxAcceleration);
+				double viJerkDistance = getDistanceTraveledWhileAccelerating(setpoint.vi, maxJerk, Key.maxJerk);
+
+				double distanceAtMaxAcceleration = setpoint.maxVelocity - (2*viJerkDistance);
+
+				setpoint.firstStartAccelerationCruisingDeltaTime = (Key.maxAcceleration - setpoint.vi)/Key.maxJerk;
+
 
 				setpoint.startVeloctityCruisingDeltaTime = (setpoint.maxVelocity - setpoint.vi) / Key.maxAcceleration;
 

diff --git a/...ionProfiling/src/org/usfirst/frc4905/MotionProfiling/commands/MotionProfilingTesting.java b/...ionProfiling/src/org/usfirst/frc4905/MotionProfiling/commands/MotionProfilingTesting.java
@@ -53,7 +53,7 @@ public MotionProfilingTesting() {
 			e.printStackTrace();
 		}
 
-		Robot.kinematicsSimpler.createTrajectory(myFirstPath, 2.0, 0.5);
+		Robot.kinematicsSimpler.createTrajectory(myFirstPath, 2.0, 0.5, 0.25);
 
 		addSequential(new MoveWithEncoder(myFirstPath));
 	}