The Palouse Area Robotics Team, the SciBorgs, announces the release of our 2022 pre-season code. This is our 2021 code updated for the 2022 WPILib beta.
The main feature not available elsewhere to our knowledge, is support for trajectories consisting of lines, circular arcs, and Euler spirals connecting the two.
Euler spirals allow transitions between lines and arcs while maintaining continuous curvature.
Another handy feature is support for sysid directly in the robot code.
The code is in a public Bitbucket git repository at
https://bitbucket.org/sciborgs4061/java-robot-2022-beta-public