Swerve path and motor trajectory generator?

[AlexanderTheOK]

Originally Posted by faust1706

It's been a pleasure working with you.

I actually have exactly what you are looking for, verbatim actually...It is entirely untested, however.

https://github.com/faust1706/Smooth-Swerve

I'm sorry but what exactly is the implementation of this? As far as I understood, the original point of 254's spline based navigation was to give a robot that couldn't strafe an option for getting to a very specific point and orientation. With a swerve you can just give it points to get to and (as long as you have done due diligence and implemented dynamic acceleration limiting in your code) it should drive smoothly, at least it did for us. What kind of situations are you foreseeing where a holonomic robot would actually need to follow a defined curve rather than just a set of waypoints?