pedro-pathing

Smooth autonomous trajectories for FTC robotics are created using a Bezier-based path follower that defines starting and target poses. This path-following system simplifies generating curved paths and configuring heading interpolation for autonomous routines.

Heading interpolation defines the robot's rotational orientation as it travels along a path. In FTC autonomous path following, it coordinates with the follower architecture to ensure the robot maintains the correct heading throughout the trajectory.

A PathChain connects multiple Bezier paths into a continuous sequence for a single autonomous routine. You configure it by integrating individual BezierLine definitions with the Follower component to execute the chained trajectory.

Bezier path following can be integrated into teleop routines for FTC robots. The system supports teleop integration alongside autonomous tasks, allowing dynamic path adjustments during operator-controlled periods.

Follower constants and localizers must be configured before building FTC autonomous paths. These settings define path constraints and coordinate with the Follower component to ensure accurate trajectory tracking and positioning.

A single BezierLine structures a direct point-to-point trajectory, while a PathChain sequences multiple Bezier paths for complex FTC autonomous tasks. Choose PathChain when your routine requires linking several distinct movements into one continuous path.