Path Following Demo

This application is an interactive demonstration of the Pure Pursuit algorithm used by @frc5024 in frc5024/lib5k. The goals of this application are:

• Provide an easy way to demonstrate the algorithm
• Graphically display the quirks and imperfections
• Help debug general error cases

The algorithm itself was originally a quick proof-of-concept that became production code. As such, there are some cases that one would expect to function in a specific way that actually end up doing something completely different. I describe this as a "greedy path search", meaning that any shortcuts that can be taken by the path follower will be taken.

Running

This program uses raylib, and requires the same system packages to be installed as are required to build raylib.

git clone https://github.com/ewpratten/pathfollowing-demo
cd pathfollowing-demo
cargo run

Control points can be added by clicking the window, and everything can be reset by pressing r.

Screenshots