This repository is a Processing implementation of the Adaptive Pure Pursuit algorithm used to control FRC robots.
The program features minimalistic path creation and following functionality:
- Left click shows the lookahead line from the cursor to the nearest path line.
- Right click creates new points on the path.
- r resets the simulation.
- n creates a new path follower that is moved by pressing.
- f moves the follower towards the end of the path.
- + increases the lookahead distance.
- - decreases the lookahead distance.
The follower also leaves a dashed path behind and has a circle around its origin to visualise the lookahead distance.
- A Feedforward Control Approach to the Local Navigation Problem for Autonomous Vehicles - the main resource used in the implementation of this project.
- Pure Pursuit Controller - MATLAB & Simulink - a neat Mathworks article about the Pure Pursuit Controller.
- 254's 2017 code - their commented code has has been a great resource and provided a lot of good pointers for various quirks in the implementation of the algorithm.
- Processing 3 - the graphic library used in this project.