How to use the Pure Pursuit Point Planner
Pure pursuit is a powerful tool to quickly get the robot to where you want it to be in autonomous. However, it is a non-trivial task to ensure that your waypoints are in the correct position for your robot to go to the right spot. To help with this, a JavaFX visualizer has been made to plot pure pursuit waypoints over an image of the field.
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Navigate to
com.team2502.purepursuitvisualizer.Controller
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Change the field
Controller#path
to be the path you want to display -
Run
com.team2502.purepursuitvisualizer.Main
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In the drop down at the bottom, select the starting position that your path is meant to be run from
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The green line represents the waypoints. The orange line at the end of the green line indicates the expected trajectory of the robot when coasting.
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