Motion Profiling Simulation

[Sharwin24]

A simulation for testing path smoothing/generation will be useful for visualizing our path generator and follower. The sim can also be used as a dynamic whiteboard for discussing strategy and organizing autonomous routes. Open-ended project for our own utility but the tool can be publicly offered too.

Requested Features:

• Arrow control (Up/Down = Forward/Backward & Left/Right = Rotate Left/Right). Robot should move forward as if moving the chassis forward, not just up on the XY axis.
• Ability to click on screen and create waypoints and auto-inject more waypoints for creating a smooth path
• Ability for robot to follow using a motion-profiled path. A motion profiled path means every waypoint (after injection and smoothing) has a left chassis velocity and a right chassis velocity which the robot can follow. The velocities are assigned based on the max speed of the chassis and the curvature at that waypoint
• Dynamic Whiteboard
• Any other features which we may believe to be useful. This is an open-ended project with a lot of potential implementations