void make(VectorArr& arr, Chassis* chassis)

Makes a new path from the given set of bezier curve control points and the given chassis’ speed constraints

This function is intended to be used by the followPath function, however it is exposed for public use.

Parameters

• arr - A reference to the control point array
• chassis - The Chassis object

Explanation

This function first generates a bezier curve path, then generates target angles from the path derivative, and then generates smooth target speeds. The target speeds are generated first by using the curvature from the path, then they are smoothed from the max accellerations of the chassis using the equation:

$ v_f^2 = v_i^2 + 2ad $

Example

Path path = Path();
path.setK(1.3);
VectorArr points = VectorArr({PVector(0, 0), PVector(0, 45), PVector(45, 45)});
path.make(points, &chassis);