Team 75 FRC Library by Derek Geng
Includes:
-Geometry package for non-linear position estimation on field
-Path package:
-Built with Cubic Hermite Splines
-Abstract Path class to easily inject waypoints and headings
-Able to generate velocities for each point on the path that satisfy constraints
-Abstraction layer for an Adaptive Pure Pursuit Controller:
-Able to produce left and right trajectories for skid-steer drive (tank drive) to follow a path
-Also able to pursuit specified points by following an arc
To use as jitpack dependency, go to https://jitpack.io/#derekgeng15/RaiderLib
Resources used:
-https://www.cubic.org/docs/hermite.htm
-https://www.ri.cmu.edu/pub_files/pub3/coulter_r_craig_1992_1/coulter_r_craig_1992_1.pdf
-https://www.chiefdelphi.com/t/paper-implementation-of-the-adaptive-pure-pursuit-controller/166552
-254's presentation on motion control: https://www.youtube.com/watch?v=8319J1BEHwM