10 / Trajectories, Actions, and MeepMeep

MeepMeep Preview

Use MeepMeep to reason about path shape before running on the robot.

60 minRoad RunnerTrajectories, Actions, and MeepMeep

You will

01Preview planned field motion outside the robot.
02Use simulation to discuss path risk.
03Keep simulation and robot constants aligned enough to be useful.

Why MeepMeep Preview matters

This lesson is about planned robot motion using Road Runner 1.0. Students should understand that trajectories depend on tuning, localization, starting pose, and action composition. Road Runner is powerful, but it only works as well as the robot model underneath it.

Starting point

Simulation is for thinking, not proof

MeepMeep helps students visualize path shape, field collisions, and sequence timing. It does not prove the robot is tuned or localized correctly.

Preview before field time

Field time is precious. A quick simulation review catches obvious path problems before the robot is on carpet and teammates are waiting.

Build path

Use small validation steps: create the drive, set the start pose, run a short action, validate localization, then add more complex paths. Mechanisms and vision should be composed as actions only after the drive path works alone.

For this specific lesson, students should first restate the goal in robot terms, then identify the value or behavior they expect to observe, then run the smallest test that proves the idea. The lesson should feel like a guided lab: predict, run, observe, explain, and only then extend.

MeepMeepPath.java · Java

RoadRunnerBotEntity bot = new DefaultBotBuilder(meepMeep)
        .setConstraints(45, 45, Math.toRadians(180), Math.toRadians(180), 14)
        .build();

bot.runAction(bot.getDrive().actionBuilder(new Pose2d(12, -63, Math.toRadians(90)))
        .lineToY(-36)
        .strafeTo(new Vector2d(48, -36))
        .build());

Debugging and failure modes

Road Runner failures should be separated into layers. If pose is wrong, fix localization. If straight motion is wrong, revisit tuning. If the path is risky, simplify or preview it. If the full auto fails, inspect the selected branch, active action, pose, mechanism state, and finish condition.

Checks

The displayed field side matches the intended alliance/start.
The robot footprint avoids field elements.
The team still validates the path slowly on the real robot.

Check your understanding

Module check

What is MeepMeep best used for?

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References

Road Runner 1.0 DocsRoad Runner 1.0 installation, tuning, actions, and trajectory reference.