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# Path Planning |
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The current path planning makes it that there is an infinite acceleration required in the corners. |
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We need something that can process setpoints in a way that it can follow those. |
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## General Idea. |
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So if we want to draw a box. 4 setpoints for each corner should be sufficient. |
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This is a simple model detail. We just take the four setpoint and give the system some time to get there. |
