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Completely New Pure Pursuit Implementation#212

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JIceberg wants to merge 8 commits intodevfrom
feature-new-pure-pursuit
Open

Completely New Pure Pursuit Implementation#212
JIceberg wants to merge 8 commits intodevfrom
feature-new-pure-pursuit

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Pull Requests

Please note that we accept pull requests from anyone, but that does not mean it will be merged.

What kind of change does this PR introduce?

  • Feature - the pure pursuit algorithm is now a simple look-ahead based follower for the path generated from the FTCLib trajectory
  • Refactor - moved purepursuit folder into the trajectory folder per the new algorithm

Did this PR introduce a breaking change?

A breaking change includes anything that breaks backwards compatibility either at compile or run time.

  • Yes, please list breaking changes

The entire PR is a huge breaking change. But this is a much needed update, because the current implementation is

  1. untested
  2. terribly organized
  3. not well integrated with the rest of FTCLib

Please make sure your PR satisfies the requirements of the contributing page

@JIceberg JIceberg added feature New feature or request improvement Improves current features in FTCLib labels Feb 23, 2022
@JIceberg JIceberg self-assigned this Feb 23, 2022
@JIceberg JIceberg linked an issue Feb 23, 2022 that may be closed by this pull request
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feature New feature or request improvement Improves current features in FTCLib

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Make Pure Pursuit Compatible with Trajectory Builder

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