https://github.com/triplehelixprogramming/helixnavigator
A trajectory optimization-based GUI application for planning autonomous paths in FRC
https://github.com/triplehelixprogramming/helixnavigator
frc javafx path-planning
Last synced: 3 months ago
JSON representation
A trajectory optimization-based GUI application for planning autonomous paths in FRC
- Host: GitHub
- URL: https://github.com/triplehelixprogramming/helixnavigator
- Owner: TripleHelixProgramming
- Created: 2021-12-03T00:20:44.000Z (over 4 years ago)
- Default Branch: master
- Last Pushed: 2023-06-10T18:37:50.000Z (about 3 years ago)
- Last Synced: 2025-10-24T05:41:52.423Z (8 months ago)
- Topics: frc, javafx, path-planning
- Language: Java
- Homepage:
- Size: 17.1 MB
- Stars: 13
- Watchers: 4
- Forks: 3
- Open Issues: 2
-
Metadata Files:
- Readme: README.md
Awesome Lists containing this project
README
# HelixNavigator
A trajectory optimization-based path planning app for FRC.
[](https://discord.gg/ad2EEZZwsS)
## Compatibility
HelixNavigator is compatible with FRC swerve drive robots only. The app generates json trajectories which can be followed by the a trajectory follower in the robot code.
## TrajoptLib
HelixNavigator is backed by the [TrajoptLib](https://github.com/SleipnirGroup/TrajoptLib), a C++ library for generating time-optimal trajectories.
## Binary Installation
You can download the latest binaries on [Releases](https://github.com/TripleHelixProgramming/HelixNavigator/releases).
### Linux
Use your system's package manager to install the `HelixNavigator-X.X.X-linux-x64.deb` artifact.
### macOS
Download the `HelixNavigator-X.X.X-macOS-x64.zip` artifact. Extract it and place in the `/Applications` directory.
### Windows WSL
Since the app doesn't allow trajectory generation in windows, you should run it in WSL instead.
[Install Ubuntu WSL](https://ubuntu.com/tutorials/install-ubuntu-on-wsl2-on-windows-10) on your Windows machine.
Next, ensure you have GUI support enabled, following [this tutorial](https://learn.microsoft.com/en-us/windows/wsl/tutorials/gui-apps).
Open an Ubuntu WSL terminal and install HelixNavigator (this is using `v1.0.1`, but you can replace with any version):
```
wget https://github.com/TripleHelixProgramming/HelixNavigator/releases/download/v1.0.1/helixnavigator_1.0.1-1_amd64.deb
sudo dpkg -i helixnavigator_1.0.1-1_amd64.deb
```
After it installs, you can run `/opt/helixnavigator/bin/HelixNavigator` to open the app.
------
### Windows (native, not working)
**DISCLAIMER:** The Windows distribution does not support generation of trajectories. This is an ongoing issue which will be fixed in the future. For now, you can run the app in WSL, see above.
Download the `HelixNavigator-X.X.X-windows-x64.msi` artifact and install it.
## Building from source
First, clone the repo in your working directory:
```
git clone https://github.com/TripleHelixProgramming/HelixNavigator.git
```
If on Windows, replace `./gradlew` with `.\gradlew.bat`.
To build:
```
./gradlew build -PmvnUsername=YOUR_USERNAME -PmvnPassword=YOUR_GITHUB_TOKEN
```
To run:
```
./gradlew run
```
## Build packaged distribution
Run the following to build a `.deb`, `.dmg`, or `.msi` package:
```
./gradlew jpackage
```