2D/3D Java (LibGDX) planner and visualizer for autonomous path following using Pure Pursuit/Ramsete in 2022 FRC Rapid React. Utilizes path following algorithms from path following libraries.
tko-path-sim.mp4
- Accurate field models rendered from the official field CAD
- Cross-platform, Gradle build tool to run
- Intuitive and powerful interface for creating and editing Quintic Hermite splines on a 2D field
- Controllable poses and velocities, all precisely measured in inches
- Path manager widget to organize complex path systems
- Exported paths can directly be copy-pasted into code
- Accurate robot model for easy visualization, CAD-based 3D controls
- Real-time simulation with video-style scrubbing
- Allows control over all aspects of the path and motion profile
- Lookahead, end threshold, adjust threshold, Newton's steps
- Max acceleration, velocity, angular velocity, starting and ending velocities
- Directly exports into Java code
- Custom-made parser for code compatible with path-following libraries
- Splines and paths are stored and organized using dictionaries
- Variable storage and postfix stack calculator allows function arguments to be expressed by variables and numeric expressions