This repository is a Processing implementation of the Adaptive Pure Pursuit algorithm used to control FRC robots.
The program offers the following functionality:
- Left click shows the lookahead line from the cursor to the nearest path segment.
- Right click creates new points of the path.
- r resets the simulation.
- n creates a new path follower that is moved by pressing f.
- + increases the lookahead distance.
- - decreases the lookahead distance.
- A Feedforward Control Approach to the Local Navigation Problem for Autonomous Vehicles - the main resource used in the implementation of this project.
- Pure Pursuit Controller - MATLAB & Simulink - a useful MathWorks article about the Pure Pursuit Controller.
- 254's 2017 code - a real-world implementation of the controller.
- Processing 3 - the graphic library used in this project.