[Pratik Kunapuli]

254 had code that allowed them to set waypoints on the field and have the computer make a spline in that path. The spline was then translated into different motor curves for each side of the drivetrain. They could literally draw a path and have the robot follow it.

From Kevin Sheridan on /r/frc:
"We generated a path using quintic hermite spline interpolation. This creates two individual paths for the right side of the drivetrain and the left side of the drivetrain. We can tell the path generator the goal location, goal velocity, goal heading, starting location, starting velocity and starting heading. We can also set the max velocity for a path. This way we can set a path using multiple waypoints to navigate to a certain spot on the field in a specific way such as driving in a s-curve."