README.md

path-util

A stupid utility for generating paths using Jaci's Pathfinder.

How To Use

Create a trajectory.properties file to configure global settings:

# Fit method to use for trajectory generation. Accepted values: HERMITE_CUBIC or HERMITE_QUINTIC
fitMethod=HERMITE_CUBIC
# Number of samples to use. Accepted values: HIGH, LOW, FAST, or an integer value.
samples=HIGH
# Change in time for each point, in seconds.
dt=03
# Maximum velocity in units per second
# units can be anything, but must be consistent across velocity acceleration, jerk, wheelbase, and position parameters
maxVel=40
# Maximum acceleration in units per second squared
maxAccel=40
# Maximum jerk in units per second cubed
maxJerk=2300
# The width of your wheels
wheelbase=2591

Create a profiles.json file containing your trajectories:

{
  "go_straight": {
    "points": [
      {
        "x": 0,
        "y": 0,
        "angle": 0
      },
      {"x": 134.5, "y": 0, "angle": 0}
    ],
    "flip": false
  },
  "fancy-auto": {
    "points": [
      {"x": 0, "y": 0, "angle": 0},
      {"x": 120.250, "y": 50.75, "angle": 0.1},
      {"x": 200, "y": -50, "angle": 0}
    ],
    "flip": true
  }
}

• For each entry in the points array:
  • x is the waypoint position forward and backward (same position units as in trajectory.properties)
  • y is the waypoint position left and right
  • angle is the waypoint heading in radians
• If flip is true, the profile will be negated and left and right will be swapped (this will make you go backwards)

Download the jar from the releases page and run it from the command line using java -jar profilegeneration.jar in the same directory as your trajectory.properties and profiles.json files. Each profile will be written to two files, name_left.csv and name_right.csv, where name is the key for the profile entry in profiles.json.

Building

To create an executable jar file with all dependencies, run the fatCapsule task from Gradle.