[faust1706]

I'm aware of this fact, but I have no idea how to implement it so that it outputs curved paths. It returns the coordinates of the nodes needed to get from a to b. For it turn return a curved path, it works either have to return so many points it appears as a curve (it takes about a second to go through 100 steps of the algorithm), or for it to output a function or something of the matter.

I still need to sit down and go through 254s path generating and following code, so that might yield some answers.

I like Yash's idea of making a square foot of the field a node, so the map would be roughly 54x27.

Something really neat about this is it's speed, surprisingly it is really fast, faster than a human could find the shortest path. That being said, it is still feesible given enough updates of the environment with the Kinect and vision system, that in a match a robot could autonomously go from a to.b in teleop, given the other team is nice and doesn't push you and only attenpts to block your path.