FTC Support

[polargh]

Scope

• Mecanum Trajectory Generation & Optimization
• Custom Field Selection

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Current State

Mecanum trajectory generation is functional, and custom field selection is fully implemented.
Users can now upload custom field images or choose from a set of preset options.

[calcmogul]

A lot of these changes are just to match the style of the other trajectory generators. If a comment makes sense to add to what was already there, it should be added to all trajectory generators if relevant.

[polargh]

A lot of these changes are just to match the style of the other trajectory generators. If a comment makes sense to add to what was already there, it should be added to all trajectory generators if relevant.

understood 👍

[calcmogul]

Maybe a more reliable formulation would be making the force vectors more general like swerve, then adding wheel force vector direction constraints on top of it. By using constraints instead of baking the force directions into the problem structure, the solver is free to temporarily violate the constraints to find a better optimum, instead of reporting infeasible or hitting a line search issue.

We did something similar with the path segment dt values, cuz forcing them equal at all times was causing convergence issues.

[calcmogul]

Here's the project I've been testing this PR against, for reference:
mecanum-test.zip

[polargh]

cool! i've been busy with prepping for champs so i haven't had much time to work on this as of recent.

what you're suggesting makes sense to me and i'll take a look at the file you provided :)