motion_profile

A basic path generation program for skid steer robots.

Currently built as an Eclipse project.

Usage

Run OfflineGenerator

Spline Interface

Spline interface controls:

• Mouse Wheel - zoom
• Middle Click + Drag - pan

add mode

• Left Click - add waypoint

edit mode

The blue circle represents position, the red diamond represents a velocity vector, and the green triangle represents an acceleration vector.

• Left Click + Drag - move control handle
• Right Click - reverse the robot travel direction following that waypoint

delete mode

• Left Click - delete waypoint

Profile Interface

The top graph displays translational information, and the lower graph displays rotational information.

• Reverse Translation - reverses the translation information on the CSV output.
• Reverse Rotation - reverses the rotation information on the CSV output.
• Zero Start Velocity & Acceleration - forces the velocity and acceleration at the start time to zero (usually desired).
• Zero End Velocity & Acceleration - forces the velocity and acceleration at the end time to zero (usually desired).