Here is the software we used in the early season of Tipping Point.

We used Pathplanner for path generation and Okapilib and PROS for our code.

Download at your own risk.

• Chassis

We used custom PID and linear motion profiles for lateral movement. For more complex movements (such as curves), we used Pathplanner to transform bezier curve paths into motion profiles.

• Lift

We used Okapilib's AsyncPosPIDController to accurately control lift movements. Since the controller is asynchronous, we could easily integrate it into our code. Check out its documentation here.

Checkout a more detailed explanation here.

MIT