v2.0.5

Changes:

Fix: Patch NaN on path completion interpolation
Fix: Change debugString() in ErrorCalculator and VectorCalculator to not mess with the derivative calculation
Fix: Make close callbacks execute in the correct order
Addition: Add setX(), setY(), and setHeading() to Follower and Localizer
Feature: Allow reusing lazily generated paths, i.e., paths with FuturePoses
Fix: Swap caught Exceptions for IllegalArgumentExceptions
Fix: Make setGlobalReversed() not broken
Refactor: Clean up piecewise heading
Fix: Correct stopping distance calculation
Fix: Allow Paths to have separate path constraints from the PathChain
Fix: Make turn and turnTo full speed

v2.0.4

Changes:

• Fix: PinpointLocalizer angular velocity extraction
• Fix: turnTo and turn
• Fix: HeadingInterpolator facingPoint(...)
• Fix: getDriveError velocity documentation

v2.0.3

Changes:

• Fix: totalHeading in OTOSLocalizer and PinpointLocalizer would increase in wrong direction with heading numbers with their absolute value > 180°
• Fix: Drive Vector faces wrong direction at parametric end
• Fix: Custom Encoder Resolution in Pinpoint locked to be inches, now uses constants' distance unit
• Add offsetHeading parameter for setTeleOpDrive to specific an offset for fieldCentric driving
  • For example, a user could specific Math.toRadians(180) so they can easily drive from blue drive team perspective in field centric drive without messing with their coordinates
• Add startTeleOpDrive(boolean useBrakeMode) and startTeleOpDrive() with plans to deprecate startTeleopDrive(boolean useBrakeMode) and startTeleopDrive()
• Add a follower.update() to startTeleOpDrive (all variants) to mitigate the Pose NPE if a follower.update is not called before.

v2.0.2

Changes:

• Add InvertedFTCCoordinates for the Decode Field
• Set up Maven Central Publishing

v2.0.1

Changes:

• Fix Lazy Interpolation Gen
• Add Filter Interface
• Pose#Mirror for Decode Autos

v2.0.0

Changes

• Custom, piecewise, reversed, facing point and global heading interpolations
• Deceleration customizability
  • Optionally decelerating later in path
  • Deceleration throughout PathChain
  • No deceleration option
  • Control of strength and start of deceleration
• Added support for custom path callbacks; parametric callbacks now use path completion instead of t-value
• Added support for different drivetrains and curves
• Pausing and resuming pathfollowing mid-path
• Separation of Follower into Vector + Error Calculators and Drivetrains
  • Per-instance constants instead of global constants
  • No more jank initialization
  • Constant sets
• Improved code readability and Javadocs
• Updates to Pose class (coordinate system swapping fixes, Pose2d conversion)
• Removal of Point class
• Updates to Path, BezierCurve, and BezierLine classes for optimization and ease of use
  • Path Constraints able to be set as the default globally or per-path
• Lazy Curve generation
  • Able to use follower::getPose or other Pose suppliers to generate the curve based on the pose at followPath runtime instead of initialization
• Few Renames
  • xMovement and yMovement -> xVelocity and yVelocity
  • zeroPowerAccelerationMultiplier -> brakingStrength

v1.0.9

Library: https://github.com/Pedro-Pathing/PedroPathing/releases/tag/v1.0.9
Quickstart: https://github.com/Pedro-Pathing/Quickstart/releases/tag/v1.0.9

• Handle the Constants setup within the Follower
• Update Normalize Angle to not handle with a while loop
• Gobilda driver lynx nack exception handling
• Switch to pose usage in the driver from Pose2d (to also fix the normalization of heading)
• Changed pinpoint NAN wrapping to be more accurate
• Add isTurning() to Follower and isBusy is activated by turn and then is set to false once error is less than a threshold
  • You can change the error threshold by adding this to your FConstants: FollowerConstants.turnHeadingErrorThreshold = 0.05; // default is 0.01
• Added 6 methods that allows to update coefficients for every PIDF
• Made localizer constants have @Config while the localizers themselves do not
• Add getHeadingError()
• Change package of SparkFunOTOSCorrected.kt

You will also have to remove the Constants.setConstants(...); in the classes that use the Follower and add the two config classes to the constructor of the Follower.

For example:

Constants.setConstants(FConstants.class, LConstants.class);
follower = new Follower(hardwareMap);

Should be turned into:

follower = new Follower(hardwareMap, FConstants.class, LConstants.class);

---

Users will have to update, in their build.dependencies.gradle , the Pedro import in dependencies{} to 1.0.9, respectively:

implementation 'com.pedropathing:pedro:1.0.9'

v1.0.8

Library: https://github.com/Pedro-Pathing/PedroPathing/releases/tag/v1.0.8
Quickstart: https://github.com/Pedro-Pathing/Quickstart/releases/tag/v1.0.8

This update does not require users to do anything other than changing com.pedropathing:pedro:1.0.7 in build.dependencies.gradle to com.pedropathing:pedro:1.0.8, unless you are going to switch to use voltage compensation, in which you will have to retune (check link for volt. comp. for more)

• Add voltage compensation (Adds 4 new variables to FollowerConstants - refer to https://discord.com/channels/1262595185699717140/1330330083713355786/1336148733007761438 for descriptions and default values)
• Change closest point to use Newton's method
• Fix accelerating while going backward
• Add turn and turnTo methods to the follower (degrees and radians options)
• Update Pose.java to define the coordinate system and easily switch the coordinate system
• Can change centripetalscaling for the follower on the fly
• Add isNAN() to the Follower and to the all the localizers, instead of isPinpointCooked()
• Add Built in functionality to input Poses into Bezier Curves, Bezier Points, and Bezier Lines
• Reset callbacks when calling followPath (allows users to run the same pathchain multiple times and retain their callbacks each time)

New Methods:

• Follower.java
  • isLocalizationNAN()
  • setCentripetalScaling(double c)
  • turnTo(double radians)
  • turnToDegrees(double degrees)
  • turn(double radians, boolean isLeft)
  • turnDegrees(double degrees, boolean isLeft)
• Localizer.java
  • isNAN()
• BezierPoint.java
  • BezierPoint(Pose pose)
• BezierLine.java
  • BezierLine(Pose startPose, Pose endPose)
• BezierCurve.java
  • BezierCurve(Pose... controlPoses)
• PathChain.java
  • resetCallbacks()
• Pose.java
  • setCoordinateSystem(boolean pedroCoordinates)
  • getAsPedroCoordinates()
  • getAsFTCStandardCoordinates()

v1.0.7

Library: https://github.com/Pedro-Pathing/PedroPathing/releases/tag/v1.0.7
Quickstart: https://github.com/Pedro-Pathing/Quickstart/releases/tag/v1.0.7

• patch deaccel + overshoot issues
• pinpoint localizer pose wrapping (protects it from momentary NAN and it recalibrates as well)
• add more javadoc to constants and follower
• add isPinpointCooked() to Follower
• add isRobotStuck() to Follower

Users will have to update, in their build.dependencies.gradle , the FTC imports and the Pedro imports in dependencies{} to 10.2.0 and 1.0.7, respectively:

    implementation 'org.firstinspires.ftc:Inspection:10.2.0'
    implementation 'org.firstinspires.ftc:Blocks:10.2.0'
    implementation 'org.firstinspires.ftc:RobotCore:10.2.0'
    implementation 'org.firstinspires.ftc:RobotServer:10.2.0'
    implementation 'org.firstinspires.ftc:OnBotJava:10.2.0'
    implementation 'org.firstinspires.ftc:Hardware:10.2.0'
    implementation 'org.firstinspires.ftc:FtcCommon:10.2.0'
    implementation 'org.firstinspires.ftc:Vision:10.2.0'
    implementation 'com.pedropathing:pedro:1.0.7'

Users will also have to update their AndroidManifest within the FtcRobotController package (Photo is attached for where to find it). You can copy and paste from here.

v1.0.6

v1.0.6

Library: https://github.com/Pedro-Pathing/PedroPathing/releases/tag/v1.0.6
Quickstart: https://github.com/Pedro-Pathing/Quickstart/releases/tag/v1.0.6

• Updates Pinpoint localizer to fix drift and modify pose translations
• Fixes a bug that does not allow maxPower to work

This fix does not requires users to do anything other than changing com.pedropathing:pedro:1.0.5 in build.dependencies.gradle to com.pedropathing:pedro:1.0.6