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--- eeros_architecture:control_system:available_blocks:pathplannerconstjerk [2020/09/03 11:30] – created ursgraf
+++ eeros_architecture:control_system:available_blocks:pathplannerconstjerk [2021/05/16 14:28] (current) – ursgraf
@@ Line 5: / Line 5: @@
-[{{ :eeros_architecture:control_system:available_blocks:pathplannerconstacc.png?600 |Path planner output for a start and end position}}]
+[{{ :eeros_architecture:control_system:available_blocks:pathplannerconstjerk.png?600 |Path planner output for a start and end position}}]
 With
 <code cpp>
-  move(startPos, endPos);
+move(startPos, endPos);
 </code>
 you dispatch a new trajectory. The trajectory is calculated with the maximum acceleration, deceleration and velocity. ''startPos'' and ''endPos'' can be given in several dimensions, e.g. startPos = { {0, 10}, {0, 0}, {0, 0} } and endPos = { {18.3, 12.5}, {0, 0}, {0, 0} } chooses a two dimensional trajectory in a plane. For this purpose maximum acceleration, deceleration and velocity must be specified with two dimensions each.\\
 You can also choose a start position and move to an end position with
 <code cpp>
-  setStart({{{15, 30}, {0, 0}, {0, 0}}});
+setStart({{{15, 30}, {0, 0}, {0, 0}}});
-  move({{{5, 20}, {0, 0}, {0, 0}}});
+move({{{5, 20}, {0, 0}, {0, 0}}});
 </code>