FTC path following library with swerve drive support.
Add JitPack to your build.gradle repositories:
repositories {
maven { url 'https://jitpack.io' }
}Add the dependency:
dependencies {
implementation 'com.github.MooseX-Pathing:ApexPathing:TAG'
}Replace TAG with a release tag or commit hash.
| Package | Contents |
|---|---|
com.apexpathing.geometry |
Pose2d, Vector2d |
com.apexpathing.kinematics |
ChassisSpeeds, Swerve/Mecanum/TankKinematics |
com.apexpathing.follower |
HolonomicTrajectoryFollower, QuinticHermiteSpline, ArcLengthParameterizer |
com.apexpathing.drivetrain |
CustomDrive, SwerveDrive, SwerveModule |
com.apexpathing.localization |
Localizer interface, PinpointLocalizer, FieldCoordinates |
com.apexpathing.hardware |
MotorEx, LynxModuleUtil |
com.apexpathing.util |
PIDFController, SlewRateLimiter |
import com.apexpathing.drivetrain.SwerveDrive;
import com.apexpathing.localization.PinpointLocalizer;
import com.apexpathing.geometry.Vector2d;See LICENSE for details.