New Features

New Features #

The biggest change is a new quickstart redesigned from the ground up to give better calibration results in less time. It also incorporates community wisdom around control schemes and has first-class support for dead wheel odometry.

On top of that, there are significant changes to the API of the core library. The mathematical tools and approach remain largely the same, but they have a fresh coat of paint. And then there a few notable features added to the library:

  • No more PathContinuityViolationException errors! The usual builders now produce sequences of paths or trajectories. Instead of failing on a continuity violation, they split the path/trajectory.

  • Motion profiles and constraints support asymmetric acceleration limits. can now specify deceleration and acceleration limits on profile and trajectories. The constructor of ProfileAccelerationConstraint now accepts two values, a minimum (negative) acceleration and a maximum (positive) acceleration.

  • Trajectories can be canceled smoothly. A canceled trajectory brings the robot to a stop as soon as possible while remaining on the path and obeying the mandated constraints. See Trajectory#cancel().

  • Unit-adjusted Ramsete in the quickstart by default. The old tank PIDVA follower is no longer in either the quickstart or the core library. Ramsete is ubiquitous in FRC and performs much better than its predecessor. The defaults from WPILib have been incorporated, so you may not even need to tune regardless of your units.