This example showcases how to use the WPILib RamseteCommand to make your Romi follow a predefined trajectory. These trajectories can be hand crafted, or generated using a tool like PathWeaver.
Note that all the constants used here assume that characterization has been done using meters as units. Additionally, all coordinates/distances are specified in meters.
None
- Ensure that the gyro has been calibrated using the web UI
- For best results, you should run a characterization on your Romi since there might be slight variations between Romis (due to assembly, mechanical difference, etc)
The trajectory can be modified by editing the generateRamseteCommand method in RobotContainer.java