What is this project?

This is a website developed for planning autonomous paths for FRC robots. It is intended to be a simple and fast tool to create autos, which works offline at competitions.

How it works

Autonomous programs are defined in this app as a series of points (as a linear spline), where each point has a custom rotation value.

The rotation feature is available for holonomic drive trains (such as swerve) that can separate the direction of the drivetrain from the direction of travel.

After generating a path (keys and features below in Usage), copy the path as json from the text box at the top right.

Note: the points are all in field position as opposed to being pixel values on the screen.

Usage

Menu

i - Toggles the menu at the top right (with the clear button and json export box)

Point controls

Space or Left Click - Add a point at the mouse cursor position (field position is displayed in the box below the cursor)

z - Remove the selected point (the selected point is highlighted gray)

r - Rotate the selected point towards the mouse cursor (angle shown visually and above the cursor numerically)

e - "Edit" (Move the selected point to the current mouse position)

a and d - a selects the previous point, while d selects the next point

c - Splits the selected point into two (doesn't work on edge points)

Development

This app is built with rust and macroquad (compiled to WASM). I originally created this project as a simple project to learn rust with, but I decided to flesh it out. Because of this, it is likely that there are various possible improvements to my code.

I am also currently considering switching away from macroquad because of the large package size.

Testing and building the code

First, clone the repository locally, and install rust (I recommend using the Visual Studio tools method).

Next, add WASM as a target for rust (assuming rust is installed)

rustup target add wasm32-unknown-unknown

Next, to build it in development mode, run

cargo build --target wasm32-unknown-unknown

Then, to see it working, run a local server hosting the index.html file in the main directory.

The codebase is currently setup to automatically build using a github action, so if you want to build it completely locally you will need to run

cargo build --release --target wasm32-unknown-unknown

and then copy the field image into dist/assets and the wasm file from target/wasm32-unknown-unknown/release/frc-auto-generator.wasm to dist/frc-auto-generator.wasm.