UntitledWaypointEditor

UntitledWaypointEditor is a graphical tool for planning time-optimized trajectories for autonomous mobile robots in the FIRST Robotics Competition.

To run in Electron

• Have Node.js and npm installed.
• Navigate to the root directory of the project.
• npm install and npm run dev

Physical input parameters

The trajectory optimizer depends upon the following user-specificed parameters, which are entered in the Robot Configuration panel.

• Mass [kg]: The mass of the robot with battery and bumpers
• MoI [kg * m²]: The resistance to change in rotational velocity in response to a torque applied to the robot about the vertical axis
• Max Velocity [m/s]: The maximum tangential speed of the wheel
  • Note: A reasonable choice of Max Velocity is that corresponding to ~80% of free speed experienced at the drive motor(s)
• Max Torque [N * m]: The maximum torque applied at the wheel
  • Note: A reasonable choice of Max Torque is that corresponding to a current draw of approximately 1.5 * BreakerValue experienced at the drive motor(s)
• Wheelbase and Trackwidth [m]: The largest distances between the robot's wheel centers

Future

These additional physical input parameters are planned to support future features:

• Length and Width [m]: The overall size of the robot's bumper

Measuring moment of intertia

The robot's rotational intertia has a significant impact on how quickly it can follow complex paths. For the best results, it is recommended to get as accurate an estimate of this parameter as possible. This can be accomplished via:

• Faithful CAD loaded with mass properties
• Physical experimentation
• System Identification methods

If none of these techniques are possible, a reasonable estimate of MoI would be mass * length * width / 6 based on the assumption of a rectangle of uniformly-distributed mass.