PurePursuit

Computes a path from a series of points and a radius

path

a list of PathPoints for the robot to drive to

lookahead

a radius for the robot to spline around(6.0 - 8.0 is best)

Constructors

constructor(path: List<PurePursuit.PathPoint>, lookahead: Double = 6.0)

data class PathPoint(val x: Double, val y: Double, val heading: Double? = null)

Data class for Pure Pursuit

fun isFinished(robotX: Double, robotY: Double, tolerance: Double = 1.0): Boolean

Check to make sure if path is finished