mahd/implementation/SCARA/04_path_planning/implementation.md

Path Planning

The current path planning makes it that there is an infinite acceleration required in the corners. We need something that can process setpoints in a way that it can follow those.

General Idea.

So if we want to draw a box. 4 setpoints for each corner should be sufficient. This is a simple model detail. We just take the four setpoint and give the system some time to get there.

Results

The implementation was fairly simple, The arm just does a joint move to the next setpoint. The control of the motor is still a bit yanky. The next step is probably a better implementation of the motors.