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Integrate x and y swerve sample values #1142

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Integrate x and y swerve sample values #1142

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spacey-sooty
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Need to test this

calcmogul
calcmogul reviewed Jan 13, 2025
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choreolib/src/main/java/choreo/trajectory/SwerveSample.java
Comment on lines +176 to +177
lerpedXPos += lerpedVXPos * dt;
lerpedYPos += lerpedVYPos * dt;
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This using the velocity of the next timestep instead of the current one is suspicious.

calcmogul
calcmogul requested changes Jan 22, 2025
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The correct integration equations are:

xₖ₊₁ = xₖ + vₖt + 0.5aₖt²
vₖ₊₁ = vₖ + aₖt

This PR used the following instead:

vₖ₊₁ = vₖ + aₖt
xₖ₊₁ = xₖ + vₖ₊₁t
     = xₖ + (vₖ + aₖt)t
     = xₖ + vₖt + aₖt²

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The correct integration equations are:

xₖ₊₁ = xₖ + vₖt + 0.5aₖt²

vₖ₊₁ = vₖ + aₖt

This PR used the following instead:

vₖ₊₁ = vₖ + aₖt

xₖ₊₁ = xₖ + vₖ₊₁t

Gah this would explain my issue thanks. Will write out and test

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@calcmogul calcmogul calcmogul requested changes

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@spacey-sooty @calcmogul