readme.md

Documentation

Welcome to the documentation included within Pathfinder! There's quite a few documents in this directory, all of which are markdown so that they can easily be browsed from GitHub.

• Preface: A couple of quick pointers you might want to make note of.
• Setting up your robot: Before you start using the library, you'll have to get your robot set up. This is a guide on doing exactly that.
• Calibration: Calibration is one of the most important things you can do to so that Pathfinder is more accurate.
• Example implementation: Here's an example of Pathfinder in action.
• The Trajectory system: The Trajectory system is the core of Pathfinder's movement. Such, it's a fairly important concept to understand in order to maximize the benefit you get from utilizing the library.
• Ticking Pathfinder: A complete (or at least hopefully complete) guide to ticking Pathfinder. Ticking is key to operating Pathfinder.
• Controllers: Open-loop controllers are a concept used widely in robotics. This is a brief overview on what they are and how to use them.
• Linear trajectories: Linear trajectories are the simplest form of trajectories and the logical starting point if you've never used Pathfinder before.
• Spline trajectories: Spline trajectories provide significantly more flexibility over your robot's motion, but are slightly harder to use.
• Fast trajectories: Fast trajectories are a simple type of trajectory that does not account for heading and does not correct if it overshoots the target point. These are useful when you need your robot to move... somewhere over there.
• Listeners: Listeners are baked into Pathfinder by default and allow you to listen for certain events by making use of functional interfaces and Pathfinder's tick() method. These can help to greatly simplify making user controls.
• Making a tank drive: A differential drive/tank drive is one of the most common types of drivetrain. This is a guide that explains how to make a differential drive.
• Commands: The pathfinder2-commands module implements basic scripting functionality into Pathfinder.
• Recording: State recording allows you to record your robot's actions and play them back later on. Example use case: you could record 30 seconds of Tele-Op gameplay and play it back during autonomous.
• Custom trajectory implementation: If you'd like to REALLY customize Pathfinder and none of the default Trajectory implementations satisfy your needs, this is a guide on creating your own Trajectory implementation.
• Modifying global values: If Pathfinder's default constants don't satisfy you, you can modify many (all, actually, if I'm not mistaken) of them.
• Modifying trajectories: The Trajectory interface allows you to apply modifiers to trajectories, allowing you to scale, invert, reflect, offset, or shift a trajectory to suit your needs.
• Zones: Zones are one of the more advanced concepts in Pathfinder. They allow you to make your robot perform certain actions based on its location on the field.
• Global trajectory map: The global trajectory map can be used for smaller projects to make code easier to write. I would NOT encourage you to use the global trajectory map for larger projects, as it can be confusing.
• Task trajectories: Task trajectories are the only type of trajectory bundled with Pathfinder that are not movement-oriented - instead, they perform a task.
• General documentation: This is directly stolen from the documentation portal, and I'm only including it here to make it easier to find.
• Making a motor: A guide on creating a motor.