A complete Pure Pursuit path following system for FTC robots using Java.

• True Pure Pursuit Algorithm - Not just PID to waypoints, but actual lookahead point following
• Multiple Path Types - LinearPath, CubicPath, PolyLine, and PathChain support
• Adaptive Control - Velocity adjustment based on path curvature
• Multiple Localizers - Support for Pinpoint, SparkFun OTOS, and Three Dead Wheel
• Real-time Tuning - FTC Dashboard integration for parameter adjustment
• Comprehensive Examples - Ready-to-use OpModes for testing and learning

1. Basic Usage:

// Initialize drive system
MecanumDrive drive = new MecanumDrive(hardwareMap, telemetry, startPose);

// Create a path
LinearPath path = new LinearPath(
    new Point(0, 0),    // Start point
    new Point(48, 24)   // End point
);

// Follow the path
drive.followPath(path);

// Main loop
while (opModeIsActive() && drive.isFollowingPath()) {
    drive.updateLocalizer();
    drive.updatePurePursuit();
    sleep(20); // 50Hz update rate
}

2. Configuration:

   • Set your localizer type in DriveConstants.LOCALIZER_CLASS
   • Configure motor names in DriveConstants.MotorConfig
   • Tune parameters in DriveConstants.TunableParams

3. Testing:

   • Run SimplePurePursuitTest for basic functionality
   • Use PurePursuitTuner with FTC Dashboard for parameter optimization
   • Try PurePursuitExample for advanced scenarios

• LinearPath - Straight line between two points
• CubicPath - Smooth curved path using 4 control points
• PolyLine - Multi-segment path through waypoints
• PathChain - Combine multiple paths into one sequence

• LOOKAHEAD_DISTANCE - How far ahead to look on the path (6-24 inches)
• MAX_VELOCITY - Maximum robot speed (inches/second)
• CURVATURE_VELOCITY_SCALING - How much to slow down for curves
• PATH_COMPLETION_TOLERANCE - How close to path end to stop

1. Start with SimplePurePursuitTest to verify basic functionality
2. Use PurePursuitTuner with FTC Dashboard for real-time parameter adjustment
3. Adjust LOOKAHEAD_DISTANCE:
   • Too small = oscillation and instability
   • Too large = cutting corners and overshoot
4. Tune MAX_VELOCITY based on your robot's capabilities
5. Adjust CURVATURE_VELOCITY_SCALING for smooth cornering

• Adaptive Lookahead - Automatically adjusts based on robot speed
• Path Visualization - Real-time path display on FTC Dashboard
• Progress Tracking - Monitor path completion percentage
• Smooth Velocity Control - Automatic speed adjustment for curves

Main Methods:

• followPath(Path path) - Start following a path
• updatePurePursuit() - Update control (call in main loop)
• stopPathFollowing() - Stop path following
• isFollowingPath() - Check if currently following a path
• getPathProgress() - Get completion percentage (0.0 to 1.0)

Legacy Support:

• Original waypoint methods still available for backwards compatibility
• setTarget(WayPoint) and updatePIDS() work alongside pure pursuit

• FTC SDK 8.0+
• FTC Dashboard (for tuning)
• Supported localizer (Pinpoint recommended)
• Mecanum drive system

This implementation is designed for FTC teams wanting professional-grade path following. The pure pursuit algorithm provides smooth, predictable robot movement that's essential for competitive autonomous routines.