[yash101]

This software is quite similar to what I have been planning to implement. I think I will try to decompose this code and rewrite it so I can learn how it works. I have been working on a way to generate a path on the field. The problem with my approach is that no algorithm is perfect. Even though I am using greedy's algorithm because it seems like it will work perfectly for an FRC setup, it every once in a while will generate some sudden turn, often for no purpose. This type of algorithm would help smoothen it out so It can be transformed into motor powers to control the robot.

Kevin,
Thank you for sharing this with me as now I have an almost identical piece of software that works, so I can have an example to learn off of.