Arm Pathfinding #112
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Arm Pathfinding #112
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aerin-brown-codes
requested review from
acoulombe,
Shaswata79,
JosephSaliba01 and
amotaouakkil123
as code owners
amotaouakkil123
requested changes
Oct 1, 2023
I don't know if it's got a name or anything, but Alex did walk me through it. It's essentially just using a sixth-degree polynomial to connect the starting and ending position for each joint and reaching the maximum velocity halfway through. It's not a pathfinding-specific algorithm or anything. |
amotaouakkil123
previously approved these changes
Oct 30, 2023
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Adds automated pathfinding from one arm position to another in the form of a polynomial function of the time elapsed since the robot was in the starting position.