Help With Pure Pursuit Implementation

[aditya_mangalampalli]

Hello,
I was working on a pure pursuit controller from this paper:

Paper: Implementation of the Adaptive Pure Pursuit Controller

Thread created automatically to discuss a document in CD-Media. Implementation of the Adaptive Pure Pursuit Controller by: edf42001 A guide to implementing the pure pursuit path following algorithm on an FRC robot. Team 1712 had their most succesful season this year, due in part to implementing the pure pursuit algorithm in our autonomous. It is fast, reliable, accurate, and makes it easy to create and adjust paths on the fly. At its heart, the pure pursuit algorithm consists of driving towar…

I wanted to know if anyone had any luck implementing it and would be able to help me out. I am struggling to understand the rate limit and the way it is used throughout the follow. Here is the code for reference:

The code will not run due to an error with the Rate Limit but I have no clue how to implement that in order to remove the error. Any help in advance would be greatly appreciated. \

Thanks,
Aditya