From 5cce2e6bbdf270ca1d811b20b5571d349d3d3aaa Mon Sep 17 00:00:00 2001 From: SPD3 Date: Fri, 6 Oct 2017 21:32:32 -0400 Subject: [PATCH] started to rework the create trajectory function for jerk testing --- .../bin/kinematics/KinematicsSimpler.class | Bin 16182 -> 15212 bytes .../commands/MotionProfilingTesting.class | Bin 680 -> 1656 bytes .../src/kinematics/KinematicsSimpler.java | 8 ++++++-- .../commands/MotionProfilingTesting.java | 2 +- 4 files changed, 7 insertions(+), 3 deletions(-) diff --git a/eclipse-workspace/MotionProfiling/bin/kinematics/KinematicsSimpler.class b/eclipse-workspace/MotionProfiling/bin/kinematics/KinematicsSimpler.class index 02a083420910a8d02a4e7c100d48b7048d0ea511..0bfe3a6b97fe9cc2ea44554514a20b8f0999311a 100644 GIT binary patch literal 15212 zcmdUWd3==B)&Dv7KF>Up$z)%c0TM#ijXu?|o*?gh2cI{qrNA z&Kd1pp>QZZ zi%HhiuV6CfL^^_wvmd%u{o9>KOa*Q-$-z{#2$L?^)V(ekZ40dH3Nn>0inIs1Rs^CU z^_&1YW@vscl2q!ZVse6Kd_yS4RJ~}Z6*Myq?+nJ@-jt;$yw#d>zd;`;h 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b/eclipse-workspace/MotionProfiling/src/kinematics/KinematicsSimpler.java index 8d50e2a..91cb8ca 100644 --- 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/eclipse-workspace/MotionProfiling/src/org/usfirst/frc4905/MotionProfiling/commands/MotionProfilingTesting.java b/eclipse-workspace/MotionProfiling/src/org/usfirst/frc4905/MotionProfiling/commands/MotionProfilingTesting.java index 2a78c46..e6d22db 100644 --- a/eclipse-workspace/MotionProfiling/src/org/usfirst/frc4905/MotionProfiling/commands/MotionProfilingTesting.java +++ b/eclipse-workspace/MotionProfiling/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)); }