Remember i said I won’t be working on v4? Once again, I have no idea what the future holds, and the best laid plans are just that, plans. I think the timelines are short vs how much work needs to be done on v5. Time to test and modify, work on the GUI, do some things better, all require massive amounts of time.
So, today i dusted off the source code of version 4.3 - its a great program. Works nice. So here is what i did:
- All the sequence stuff - it was really bad code that takes huge resources with little benefit. If you used it in the past, you’ll have to use the original version.
- The maze path and grid stuff that generated the “drive around” inner boundaries. Was mostly for the original agriBot work, so now you’ll have to drive around inners - doubt many used it anyway.
- Removed the recorded path.
- Removed the GeoFence and all associated code for that.
Added: the stepFix code from Drive that has been worked on - but not the reverse at this time. v4 needs to be reliable, not have everything the new version will offer. The new fix code is solid, does roll and antenna offset properly.
Changed from UTM and convergence angle correction to local tangent plane geometry. 1,000,000 times faster code execution then utm. Just as accurate. 4 years ago debated between LTPG and UTM, maybe chose wrong.
Further reading: https://en.wikipedia.org/wiki/Local_tangent_plane_coordinates
So with all that removed - it runs pretty sweet. 1 to 2 ms per frame even with headland, uturn, implement lift on.
Next steps is to add the new steer algorithm - remove pure pursuit completely from it.
I know some are using Pure Pursuit - but am not sure why considering Stanley works so very well and requires almost nothing for setting. So that is the question, how upset will you be if i remove PP?