This repository builds on Oxplorer's automatic path-generating system (see https://github.com/FRCTeam3044/Oxplorer) with a built-in physics-based path following option as well as easy-to-implement flexible goals. For setup, you need to give it a supplier of the robot's current position, a method to drive the robot relative to the field, and a few constants about the robot. With this, it can automatically generate a pathing command to bring the robot to a desired position (including options such as within certain angles on an arc). You can also give it a custom position supplier for unique situations. All methods you can use have thorough documentation, so refer to those for more information on specific use. This repository is built on the MAXSwerve Java Template; you can find the TroPath-specific code in this repository in src/main/java/frc (specifically in utils, robot/commands, and robot/robotprofile).
For an example of a full implementation in 2025, see https://github.com/FRCTeam3206/2025-Reefscape