This system uses Bézier curves for precise path shaping, with a holonomic mode that separates rotation from movement direction. It features real-time path previews, event markers for triggering actions, and modular routines for autonomous tasks. The system includes automatic saving, file management, and a robot-side vendor library for custom path commands. It supports full autonomous command generation with PathPlannerLib's auto builder and real-time telemetry. Additionally, it offers hot reload for updates without redeploying code and automatic pathfinding using AD* in PathPlannerLib.

Mass of robot. Max 150 kg.

MOI: The moment of inertia is defined as the ratio of the net angular momentum of a system relative to its angular velocity around a principal axis.

Can be calculated via a cad software.

Bumper Width: Width Of Robot's Bumper (in meters)

Bumper Length: Length of Robot's Bumper (in meters

Bumper Offset X: Distance of the center of the bumpers from the center of the robot along the X axis (Positive values: bumper is forward of robot center)

Bumper Offset Y: Distance of the center of the bumpers from the center of the robot along the Y axis (Positive values: bumper is left of robot center)

Wheel Radius: Radius of the drive wheels (in meters). Can be measured or listed wherever it was purchased from.

Drive Gearing: Gear reduction from the motor to the wheels. This value should be greater than 1

True Max Drive Speed: True maximum speed of the robot while driving under load (in m/s)

Note: It is very important for the true max speed of the robot to be measured. It encodes information on how much motor torque can actually be used to accelerate the robot. This can be measured by driving the robot at max speed on a charged battery or estimated by using 85% of the module's free speed.

Wheel COF: Coefficient of friction between the wheels and the carpet.

Drive Motor: Type of motor used.

Current Limit: The supply current limit applied to the drive motor controllers, in Amps.

Pose Supplier (Supplier<Pose2d>, poseSupplier), Gives you an updated Pose2d

Reset Pose (Consumer<Pose2d>, resetPose), Takes in the Pose2d and then resets it

Robot Relative Speed Supplier (Supplier<ChassisSpeeds>, robotRelativeSpeedsSupplier), Gets the relative updated robot speed

Output (Consumer<ChassisSpeeds>, output), Chassis speed outputs

Controller (PathFollowingController, controller), Object that controls the path follower

Robot Config (RobotConfig, robotConfig), The robot configuration object

Should Flip Path (BooleanSupplier, shouldFlipPath), Function that detects whether or not the path should be flipped

Drive Requirements (Subsystem..., driveRequirements), Array of drive requirements (all items are the same time)

Link to PathPlanner

Link to PathPlanner GitHub

Link to Path and Photon vision