PathWeaver Yörüngelerinin Görselleştirilmesi

PathWeaver’s primary feature is to visualize trajectories. The following images depict a smooth trajectory that represents a trajectory that a robot might take during the autonomous period. Paths can have any number of waypoints that can allow more complex driving to be described. In this case there are 3 waypoints (including the start and stop) depicted with the triangle icons. Each waypoint consists of a X, Y position on the field as well as a robot heading described as the X and Y tangent lines.

Deep Space'de bir roketin arkasına doğru yönelen bir PathWeaver yolu.

Creating the Initial Trajectory

To start creating a trajectory, click the + (plus) button in the path window. A default trajectory will be created that probably does not have the proper start and end points that you desire. The path also shows the tangent vectors (teal lines) for the start and end points. Changing the angle of the tangent vectors changes the shape of the trajectory.

Bir yol ilk oluşturulduğunda koordinat konumları. İlki en üstteki sol köşededir. İkincisi aşağıya bakacak şekilde 90 derece döndürülmüştür.

Drag the start and end points of the trajectory to the desired locations. Notice that in this case, the default trajectory does not start in a legal spot for the 2019 game. We can drag the initial waypoint to make the robot start on the HAB.

Changing a Waypoint Heading

The robot heading can be changed by dragging the tangent vector (teal) line. Here, the final waypoint was dragged to the desired final pose and was rotated to face the rocket.

Her bir koordinatın önündeki mavi çizginin ayarlanması, koordinatın baktığı yönü kontrol etmektedir.

Adding Additional Waypoints to Control the Robot Path

Adding additional waypoints and changing their tangent vectors can affect the path that is followed. Additional waypoints can be added by dragging in the middle of the path. In this case, we added another waypoint in the middle of the path.

Yolun ortasına tıklanıp taşınmasıyla ek bir koordinatın eklenmesi

Locking the Tangent Lines

Locking tangent lines prevents them from changing when the trajectory is being manipulated. The tangent lines will also be locked when the point is moved.

More Precise control of Waypoints

PathWeaver her e kadar robotun takip etmesi gereken yörüngelerin çizimini kolaylaştırsa da bazen koordinatların nereye konulacağını belirlemek zordur. Bu durumda koordinatların belirlenmesi, sahanın CAD modelinden alınabilen X ve Y değerlerinin girilmesiyle gerçekleştirilebilmektedir. Noktalar, koordinat seçildiği zaman X ve Y alanlarına girilebilir.