Use Adaptable Pure Pursuit

Team-2502 / RobotCode2018

All of our code for our 2018 robot.

GNU General Public License v3.0

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Use Adaptable Pure Pursuit #41

Closed andrewgazelka closed 6 years ago

andrewgazelka commented 6 years ago

Think this is what @ritikmishra coined it?

Basically variable lookahead for given speeds Section 4.2 of Pure Pursuit Path Tracking Algorithm

ritikmishra commented 6 years ago

Adaptable Pure Pursuit!

ritikmishra commented 6 years ago

From the Cheesy Poofs

 * Basically, we find a spot on the path we'd like to follow and calculate the arc necessary to make us land on that
 * spot. The target spot is a specified distance ahead of us, and we look further ahead the greater our tracking error.
 * We also return the maximum speed we'd like to be going when we reach the target spot.