Quote:
Originally Posted by Jaci
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
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The main reasons I feel it is harder to integrate are the lack of the ability to load trajectories from files and that it assumes that the encoder values are not already scaled to physical units. This second limitation can be easily worked around with some math.
I am curious, though, why you chose to do the tick to distance conversion within Pathfinder. Both the Talon SRX and the WPILib Encoder object will do distance scaling for you, so why didn't you just use that?
My original plan was to have a bunch of pre-generated trajectories and just choose to load the one for our selected autonomous. I have decided to use your library after all, and generate multiple trajectories concurrently in the background. This makes the whole process simpler to manage.