Pathfinder - Fast Motion Profiling for Java and C++, Tank and Swerve Drive

[Jaci]

Originally Posted by Ether

Not a big deal, but I'm curious why you chose the above convention?

I chose that system because it seemed sensical if you view your robot starting from the midline and viewing the field from top-down. Again, you can change the followers if you want to modify the coordinate system

Originally Posted by Ether

It seems like there has to be a better way. Quite often, it's possible to make a small change to the order or method of computation to completely avoid those kind of errors. And if not, isn't there a way to trap floating point errors and make an alternate calculation in an exception handler?

There most likely is, and I will be testing approaches within the next few days. This only happens if you're trying to make a path with 90 degree exit angles without the Y value changing, creating a graph oscillates multiple 10s of meters in magnitude