Robot motion profiler/path planner for tank drive robots. Used on the robot of FRC Team 6135 (Arctos)
Inspired by and partially based on Pathfinder by Jaci Brunning. This project is in no way intended to be a copy or replacement for Pathfinder! Though a lot of it is based on Pathfinder, the two generators have their own pros and cons.
Thank you to FRC Team 254 (The Cheesy Poofs) for their amazing video on motion control!

Some of the highlights include:

• Smooth path generation with 3 different fit types
• Respects maximum velocity constraints for both wheels, even when turning
• Allows wheels to turn backwards if turns are too tight
• Handy methods that allows the mirroring and retracing of trajectories
• Follower class that can be set to follow position, velocity, acceleration and direction
• And much more...!

Version 1 is deprecated; they contain serious design oversights that make them very inaccurate. Please use a Version 2 release instead.

Given an array of waypoints, each with coordinates and a heading, RobotPathfinder generates a smooth path that follows all the waypoints. Then, using that path, it generates left and right wheel trajectories for a robot to follow in order to achieve the desired path.

Example path:
Trajectory for the example path:
These graphs are generated using JMathPlot. You can find its repository here.
The program that generated this trajectory can be found under the examples directory as TrajectoryGenerationDemo.java.

Download the jar at build/RobotPathfinder.jar and add it to your class path to start using RobotPathfinder!
Note that JMathPlot is required if you wish to use any graphing features; its jars can be found under the lib directory.
Additionally, if you wish to use it in a WPILib Robot Java Project, in addition to adding the jar to the classpath, you must put a copy of the jar under the WPILib Java libraries directory (C:\Users\USERNAME\wpilib\user\java\lib on Windows and /home/USERNAME/wpilib/user/java/lib on UNIX).
Using a symlink is highly recommended, because if you ever want to update the library you only have to change one jar. For Windows, this command is mklink path\to\symlink path\to\target, and for UNIX it is ln -s path/to/target path/to/symlink.

All classes and methods are documented with JavaDocs. You can find the docs under the build directory, as doc.zip.
Examples can be found under the examples directory.

A GUI Trajectory Visualization Tool in the form of an executable jar can be found at build/Trajectory_Visualizer.jar.

This tool generates path and trajectory graphs from waypoints and robot specification parameters; it can be used to preview paths and trajectories and check if a path is possible without having to write code for it.

Features include:

• Creating path and trajectory graphs
• Saving waypoint data and robot specification parameters
• Code generation