https://github.com/mittyrobotics/path-following

Autonomous path following (Pure Pursuit/Ramsete) using Quintic Hermite splines and trapezoidal motion profiles.
https://github.com/mittyrobotics/path-following

frc frc-java path-following pure-pursuit

Last synced: 23 days ago
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Autonomous path following (Pure Pursuit/Ramsete) using Quintic Hermite splines and trapezoidal motion profiles.

• Host: GitHub
• URL: https://github.com/mittyrobotics/path-following
• Owner: MittyRobotics
• Created: 2021-11-14T00:14:58.000Z (over 3 years ago)
• Default Branch: main
• Last Pushed: 2022-10-30T16:15:44.000Z (over 2 years ago)
• Last Synced: 2023-08-09T22:12:08.822Z (almost 2 years ago)
• Topics: frc, frc-java, path-following, pure-pursuit
• Language: Java
• Homepage:
• Size: 2.15 MB
• Stars: 4
• Watchers: 1
• Forks: 0
• Open Issues: 1
• Metadata Files:
  • Readme: README.md

Awesome Lists containing this project

README

        
# path-following

## Library: https://jitpack.io/#MittyRobotics/path-following/1.3.1

## Technical PDF: https://andyli23.github.io/path_following.pdf

### Check out [TKO Path Sim](https://github.com/MittyRobotics/TKO-Path-Simulator) for a fully compatible path planner and 2D/3D visualizer!

* Quintic hermite splines

* Controllable trapezoidal motion profile with limited angular velocity

* Runs in real-time using fast estimation techniques like Gauss-Legendre quadrature and modified Newton-Raphson method

* Pure Pursuit and Ramsete Path Following Algorithms

* Fully documented & libraritized

## Path Following in Action!

#### 2022 Silicon Valley Regional, Qualification 89

https://user-images.githubusercontent.com/54689920/197892077-2ea0e78f-7215-43ce-ba3b-28c3df8fe175.mp4

### Graphical path visualiser:

![](https://raw.githubusercontent.com/MittyRobotics/path-following/main/img/sim.png)

Adjusting the path and spline:



Exporting the path and spline: