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https://github.com/wobblyyyy/pathfinder2

Paths, trajectories, splines, the number 2, and a whole lot of swag.
https://github.com/wobblyyyy/pathfinder2

challenge competition first frc ftc java library pathfinder robotics

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Paths, trajectories, splines, the number 2, and a whole lot of swag.

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README 

        
Important Notice



This project is no longer actively being developed. If anyone is interested in

continuing the development of this project, please let me know!



I'd be happy to help you with using this project. You can reach me through

Discord (`wobblyyyy#6733`) or e-mail (`[email protected]`).





Pathfinder2




Autonomous motion planning and control library for wheeled mobile robots.




Successor to Pathfinder.






GNU GPL V3

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Pathfinder2 is a continuation of the

original [Pathfinder](https://github.com/Wobblyyyy/Pathfinder) library: a

streamlined motion planning and control system designed for FIRST events, such

as the [FIRST Robotics Competition](https://www.firstinspires.org/robotics/frc)

and the [FIRST Tech Challenge](https://www.firstinspires.org/robotics/ftc).

- Track the position of a wheeled mobile robot using a variety of odometry

  implementations.

- Dynamically correct for movement error and drift.

- Plan complex routes using the

  [Trajectory](./docs/17_the_trajectory_system.md)

  system. Follow splines, arcs, lines, equations, the little green light at

  the end of the tunnel - whatever you want, it's really up to you.

- Full-featured geometry package with polygon collision detection, several

  shapes, lines, points, and angles.

- Map gamepad events (button press, trigger press, joystick move, etc) to

  `Runnable`s, making it easy to create listeners.

- Incredibly customizable: much of Pathfinder is based on interfaces and

  there's a plugin system for advance usages.

- Potentially the coolest piece of code ever written. I don't have any

  evidence to support that, but we're all about swag here.



NEW DOCUMENTATION:



> Pathfinder has improved documentation available in the [`docs`](/docs/)

> directory.



OLD DOCUMENTATION:



> Want to get started? Check out the [releases guide](project_releases.md) to

> get everything installed, and then head over to the

> [documentation portal](https://wobblyyyy.github.io/docs/pathfinder2/documentation.html).



Summary



Pathfinder handles everything related to your robot's movement. It abstracts

away much of the tedious movement-related code many robot codebases are bogged

down with and allows you to focus on what else your robot can do. In addition

to providing a robust interface for precisely controlling your robot's

movement, Pathfinder provides a wide array of robotics-related utilities and

tools.



Want your robot to move to a certain point on the field? Simple:

```java

pathfinder.goTo(new PointXY(10, 15));

```



`PointXY` is a simple Cartesian coordinate with X and Y values. Now let's say

you want to make your robot move to the same point, but turn to 45 degrees.

```java

// method 1

pathfinder.goTo(new PointXYZ(10, 15, Angle.fromDeg(45)));



// method 2

pathfinder.goToZ(Angle.fromDeg(45));

```



Pathfinder is capable of significantly more than simple movement - splines,

motion profiling, recording and playback - the list goes on.



Example Code



Check out an example FRC project

[here](https://github.com/Wobblyyyy/MecanumPathfinderFRC)!



Here's a demonstration of Pathfinder's utilization of lambda expressions to

write simple and readable code.

```java

pathfinder

    .setSpeed(0.5)

    .setTolerance(2)

    .setAngleTolerance(Angle.fixedDeg(5))

    .splineTo(

        new PointXYZ(10, 10, Angle.fixedDeg(90)),

        new PointXYZ(20, 30, Angle.fixedDeg(45)),

        new PointXYZ(30, 50, Angle.fixedDeg(180))

    )

    .tickUntil();



pathfinder.getListenerManager()

    .bindButton(gampad::a, (isPressed) -> {

        // code to be executed whenever the A button is pressed

    })

    .bindButton(gamepad::b, (isPressed) -> {

        // code to be executed whenever the B button is pressed

    })

    .bind(new ListenerBuilder()

        .setMode(ListenerMode.CONDITION_IS_MET)

        .addInput(() -> SupplierFilter.anyTrue(

            () -> gamepad.rightTrigger() > 0,

            () -> gamepad.leftTrigger() > 0

        ))

        .setWhenTriggered(() -> {

            // code to be executed whenever either trigger is pressed

        })

        .setPriority(10)

        .setExpiration(Double.MAX_VALUE),

        .setMaximumExecutions(Double.MAX_VALUE)

    );



// whenever pathfinder is "ticked" (updated, basically), set the robot's

// translation to whatever the driver's controller outputs

pathfinder.onTick(() -> {

    pathfinder.setTranslation(new Translation(

        gamepad.leftStickX(),

        gamepad.leftStickY(),

        gamepad.rightStickX()

    ));

});



while (true) {

    // tick pathfinder forever

    pathfinder.tick();

}

```



Installation



Installation instructions have been moved [here](project_releases.md).



Documentation



Here's all of the sources of documentation I can think of right now.



- [Documentation portal](https://wobblyyyy.github.io/docs/pathfinder2/documentation.html) -

  the hub for documentation for this library.

- [Project tutorial](.github/project_tutorial.md) - this is a basic tutorial

  that walks through the fundamentals of the library. This is probably the best

  place to start getting acquainted with the library.

- [Examples](pathfinder2-examples) - several example usages of the project. Each

  of the classes contained in this module will contain more specific

  documentation explaining what the example is demonstrating.

- [JavaDoc](https://wobblyyyy.github.io/JavaDocs/Pathfinder2/0.7.0) - JavaDoc

  for the Pathfinder2 library. This is the most fine-grained documentation, and I'd

  encourage you to check this out once you're comfortable with the library.

- [Video guides](https://google.com) - (not yet available) video guides on using

  the library. Who doesn't love videos? Right? Right.

- [Project releases](project_releases.md) - a guide on all of the available

  releases of Pathfinder.



Licensing



This project uses the [GNU GPL V3](license.md). You're allowed to freely

distribute and modify the code contained in this project, so long as a copy of

the original license is provided, and all of your code is made open-source.