This LabVIEW project contains the source and build specifications for the 4 utilties installed with the FRC LabVIEW Trajectory Library. These utilities create trajectory files and convert trajectory files from one type to another. They can be used regardless of the programming language used on the robot. The utilities are:

• Create Trajectory Using Trajectory Library

  Create a trajectory using the trajectory library routines and write it to a CSV (comma separated value) file and/or a JSON file that can be copied to a RoboRIO and read by the robot code. The trajectory configuration can be written to an XML file and read back to allow iterative trajectory creation and modification. The trajectory is created by:

  1. Defining robot properties
  2. Defining drive system constraints
  3. Defining the trajectory "waypoints".
  4. Creating and reviewing the trajectory. If changes need to be made to back to steps i,ii,iii as needed.
  5. Write the trajectory to a file, CSV and/or JSON.
  6. Write the trajectory configuration to a file.
  7. Read a trajectory configuration from a file.

  Sample screen shot

  

  

  

  

  

  

  

  

  

  Sample trajectory file

  

• Create_Trajectory_Using_PathfinderDifferential

  Create a trajectory using Jaci Brunning's Pathfinder library for a robot using a "differential drive" and write it to a CSV (comma separated value) file that can be copied to a RoboRIO and read by the robot code.

  More information on Pathfinder can be found here https://github.com/JaciBrunning/Pathfinder
  One of the biggest differences between this Trajectory Library and Pathfinder is that Pathfinder uses S curves instead of trapezoids.

  Sample trajectory file

  

• Create_Trajectory_Using_PathfinderSwerve

  Create a trajectory using Jaci Brunning's Pathfinder library for a robot using a "swerve drive" and write it to a CSV (comma separated value) file that can be copied to a RoboRIO and read by the robot code.

  More information on Pathfinder can be found here https://github.com/JaciBrunning/Pathfinder
  One of the biggest differences between this Trajectory Library and Pathfinder is that Pathfinder uses S curves instead of trapezoids.

• Convert PathWeaver JSON File To Trajectory File

  Read a JSON file created by the PathWeaver utility. Write this trajectory as a CSV file for use with this library.

• Convert Trajectory CSV file to PathWeaver JSON file

  Read a Trajectory CSV file created by the Create Trajectory utility. Write this trajectory as a JSON file for use by Java/C++ WPILIB programs.

File last updated: 1/19/2021