Controls Tutorial for Motion Profiling #2589
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Question for the group.
Two options for how to generate it without blowing up scope:
AI code ownership can be fraught in a corporate context, but I'm not sure how much that applies in open source. Thoughts on the risk before we move forward with 2 over 1? I'm fine with either. Note, as mentioned in the past, a nifty thing would be a webasm build of wpimath that we build these sims around. But that's still a longer lead-time item. |
Or #1831 |
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In an attempt to not let this rot too much... If 1831 doesn't have line of sight to get solved prior to 2025 season, would going back on the initial two options be acceptable? |
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rewritten sans AI. |
| const gravityAcceleration = -this.kGVolts / this.kAVoltSecondSquaredPerM; | ||
| const EMFAcceleration = -this.kVVoltSecondPerM * velMPerS / this.kAVoltSecondSquaredPerM; | ||
| const controlEffortAcceleration = inputVolts / this.kAVoltSecondSquaredPerM; | ||
| const airResistanceAccel = -1.0 * Math.sign(velMPerS) * Math.pow(velMPerS, 2) * 0.2; |
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Is the air resistance contribution appropriately scaled?
Using vertical elevator as the driving example for now
Entering draft PR for comments.
Will update as functionality is added