Currently the odom functions only support specific motions. You have to decide between ptp, injected, smooth, or boomerang. There should be a single function that handles all of this, pid_odom_set(). If you input multiple points, it'll run smooth pure pursuit. If you only give 1 point, it'll run injected pure pursuit. 1 point and an angle? Boomerang.
Currently the odom functions only support specific motions. You have to decide between ptp, injected, smooth, or boomerang. There should be a single function that handles all of this,
pid_odom_set(). If you input multiple points, it'll run smooth pure pursuit. If you only give 1 point, it'll run injected pure pursuit. 1 point and an angle? Boomerang.