After the conclusion of the Houston world championships, we began to work on a reusable library that will be the backend of all FRC 5190 robots. The library has accumulated several features in the last few months and we are proud to share it with the FRC community!
Some features include:
- Wrapped WPILib Commands and Subsystems with Kotlin Coroutines asynchronous optimization.
- Custom type-safe units of measure for TalonSRX, metric, imperial, etc.
- Fast spline generation with arc length approximated by augmented circular arcs (from FRC Team 254)
- Custom trajectory followers, trajectory following commands and interfaces.
- Interpolatable Odometry
Feel free to ask questions!