Skip to content

2D/3D Java (LibGDX) planner and visualizer for autonomous path following using Pure Pursuit/Ramsete in 2022 FRC Rapid React. Utilizes path following algorithms from path following libraries.

Notifications You must be signed in to change notification settings

MittyRobotics/TKO-Path-Simulator

Repository files navigation

TKO-Path-Simulator

2D/3D Java (LibGDX) planner and visualizer for autonomous path following using Pure Pursuit/Ramsete in 2022 FRC Rapid React. Utilizes path following algorithms from path following libraries.

A demonstration!

tko-path-sim.mp4

Features

  • Accurate field models rendered from the official field CAD
  • Cross-platform, Gradle build tool to run

2D:

  • Intuitive and powerful interface for creating and editing Quintic Hermite splines on a 2D field
    • Controllable poses and velocities, all precisely measured in inches
    • Path manager widget to organize complex path systems
  • Exported paths can directly be copy-pasted into code

3D:

  • Accurate robot model for easy visualization, CAD-based 3D controls
  • Real-time simulation with video-style scrubbing
  • Allows control over all aspects of the path and motion profile
    • Lookahead, end threshold, adjust threshold, Newton's steps
    • Max acceleration, velocity, angular velocity, starting and ending velocities
  • Directly exports into Java code

Importing paths

  • Custom-made parser for code compatible with path-following libraries
  • Splines and paths are stored and organized using dictionaries
    • Variable storage and postfix stack calculator allows function arguments to be expressed by variables and numeric expressions

About

2D/3D Java (LibGDX) planner and visualizer for autonomous path following using Pure Pursuit/Ramsete in 2022 FRC Rapid React. Utilizes path following algorithms from path following libraries.

Resources

Stars

Watchers

Forks

Releases

No releases published

Packages

No packages published