Path Bot

After the 2018 FRC robotics competition season last spring, I decided that my team’s robots needed an upgrade to their autonomous navigation capabilities. Over the summer, I began work on new navigation software for our robots with another programmer from my robotics team, Caleb Eby. The project is still a work in progress but an initial version should be done within the next couple of weeks. The project can be found at

The previous version of the robot navigation software used a pure pursuit controller to follow a segmented path, and was relatively finicky and required quite a bit of careful tuning before it performed well on a given path. The newer version uses quintic splines to represent paths, and will hopefully require significantly less tuning.