Quote:
Originally Posted by lopsided98
What advantages does this have over 254's TrajectoryLib? The trajectory following code seems very similar to 254's, but did you make any changes to the generation algorithm other than rewriting it in C? The main reason I am asking this is that TrajectoryLib seems to fit more easily into my robot code than your library, and I'm trying to decide whether I should switch right now.
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The most major modification is C rewrite, however the structure has been changed, and some of the more mathematical functions of the library have been optimized.
The main advantages are the speed and portability. Pathfinder will run on either Java or C++ robots, and also has the added support for Swerve Drive. As for integrating it into you robot code, it should be a fairly similar experience to TrajectoryLib