8059 Base Control Library with Pure Pursuit

credits: https://www.chiefdelphi.com/uploads/default/original/3X/b/e/be0e06de00e07db66f97686505c3f4dde2e332dc.pdf

File structure:

Library files:

• /include/8059PurePursuitInclude
• /src/8059PurePursuitSrc

Supporting files:

• autonSets.cpp & autonSets.hpp
• mechLib.cpp & mechLib.hpp
• globals.hpp

Library files:

Handle input:

• Sensors: handle input data from encoders, inertial and motor voltage
  • Encoders --> encdL, encdR
  • Inertial --> bearing --> angle
  • Motor Voltage --> measuredVL, measuredVR

Odometry:

• Odom: uses trigonometry to track the robot's absolute position (relative to field) over time

Pure Pursuit:

• Node: basic Node class of a 2D point
• Path: Path class:
  1. Point injection
  2. Path smoothing
  3. Calculate distance between smoothed pathpoints
  4. Calculate curvature of every smoothed pathpoint
  5. Calculate theoretical maximum velocity of every smoothed pathpoint
  6. Calculate target velocity of every smoothed pathpoint, with capped deceleration (backward capping) (i.e. capped acceleration from the last point)
  • Still subjected to forward capping to be implemented during motor control
  • Forms the later half of trapezoidal velocity control
• Control: use information from path to control base motors, using both feedforward and feedback

Support:

• Math: handle mathematical calculations
• Debug: print functions for debugging
• api: api file