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Please add methods specific to your pure pursuit class
moved to lib
did most of the function to get the start location. just need to find out how to return x and y. also got rid of endPosition parameter, because was not needed in calculations of start location
was finally able to make the method return the location
Created a method for injecting points, put some code in, still needs some work though
just making some changes to point injecter
finished point injecter
created and completed smoother function
created and completed method that finds distance between points
created method to return an array with target velocities for each point
finished rate limiter
finished part 3 of velocities
started to make method to find closest point the robot has not passed. also did some code cleanup
finished closest point method
created method to get lookahead point
created method to find curvature of arc towards look ahead point
created method to find wheel velocities
created method to find power for wheels values. more work needed
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Pure pursuit group 3. We created a new class and added a constructor to it.