Pedro Pathing follows Bezier curves using a vector field: a translational vector pulls the robot to the path, a heading vector controls rotation, a drive vector pushes it along, and a centripetal vector compensates for curvature.
Why teams choose itLink to this section
- Corrects continuously instead of replanning on error.
- Holds heading independently of translation, which suits mecanum robots.
- Tuning is a short ordered checklist rather than a search.
Tuning orderLink to this section
- Localizer — verify reported position against a tape measure.
- Mass and forward/lateral zero-power acceleration.
- Translational PID.
- Heading PID.
- Drive PID.
- Centripetal scaling.
PathChain toBackboard = follower.pathBuilder()
.addPath(new BezierCurve(
new Point(startPose),
new Point(24, 12, Point.CARTESIAN),
new Point(40, 36, Point.CARTESIAN)))
.setLinearHeadingInterpolation(startPose.getHeading(), Math.toRadians(90))
.build();
follower.followPath(toBackboard, true);