romi-trajectory-ramsete

Romi Trajectory Follower

THIS USES SOME DEPRECATED FUNCTIONS AND REMAINS TO BE SEEN IF CAN SUPPORT PAST 2024!!!

Description

This example showcases how to use the WPILib RamseteCommand to make your Romi follow a predefined trajectory. These trajectories can be hand crafted, or generated using a tool like PathWeaver.

Note that all the constants used here assume that characterization has been done using meters as units. Additionally, all coordinates/distances are specified in meters.

Additional Hardware Required

None

Additional Configuration Required

• Ensure that the gyro has been calibrated using the web UI
• For best results, you should run a characterization on your Romi since there might be slight variations between Romis (due to assembly, mechanical difference, etc)

Additional Code Setup

The trajectory can be modified by editing the generateRamseteCommand method in RobotContainer.java