Road Runner generates time-parameterised trajectories that respect velocity and acceleration constraints, then follows them with feedforward plus a corrective controller. It is precise and predictable when characterised properly.
Feedforward characterisationLink to this section
kV, kA and kStatic map a desired velocity to motor power. Run the manual feedforward tuner and adjust until the graphed target and measured velocity overlap.
| Constant | Meaning | Symptom if low |
|---|---|---|
| kV | Power per unit velocity | Robot lags behind the profile |
| kA | Power per unit acceleration | Slow to start, overshoots stops |
| kStatic | Power to overcome friction | Robot stalls at low speed |
Action toStack = drive.actionBuilder(startPose)
.splineTo(new Vector2d(-48, -36), Math.PI)
.waitSeconds(0.3)
.lineToX(-56)
.build();
Actions.runBlocking(toStack);