v2.0.0

Changes

• Custom, piecewise, reversed, facing point and global heading interpolations
• Deceleration customizability
  • Optionally decelerating later in path
  • Deceleration throughout PathChain
  • No deceleration option
  • Control of strength and start of deceleration
• Added support for custom path callbacks; parametric callbacks now use path completion instead of t-value
• Added support for different drivetrains and curves
• Pausing and resuming pathfollowing mid-path
• Separation of Follower into Vector + Error Calculators and Drivetrains
  • Per-instance constants instead of global constants
  • No more jank initialization
  • Constant sets
• Improved code readability and Javadocs
• Updates to Pose class (coordinate system swapping fixes, Pose2d conversion)
• Removal of Point class
• Updates to Path, BezierCurve, and BezierLine classes for optimization and ease of use
  • Path Constraints able to be set as the default globally or per-path
• Lazy Curve generation
  • Able to use follower::getPose or other Pose suppliers to generate the curve based on the pose at followPath runtime instead of initialization
• Few Renames
  • xMovement and yMovement -> xVelocity and yVelocity
  • zeroPowerAccelerationMultiplier -> brakingStrength