Follower Configs

BSpline Follower

The BSpline follower takes multiple arguments in the constants file:

Translation and heading coefficients (PDS)
Velocity feedforward (FF)
Heading tolerance
Distance (translational) tolerance
T-parameter tolerance (for spline completion)

Tuning your follower constants

In order to obtain the values of your follower constants, you must run the following tuner:

BSpline Tester

Refer to the Tuning section of the documentation to know more about how to run these tuners.


    @Override
    public FollowerConstants setFollowerConstants() { // Any FollowerConstants
        return new BSplineFollowerConstants()
                .setTranslationCoeffs(new PDSController.PDSCoefficients(0.1, 0.0, 0.0, 0.0))
                .setHeadingCoeffs(new PDSController.PDSCoefficients(0.4, 0.0, 0.0, 0.0))
                .setVelocityFF(0.01)
                .setHeadingTolerance(Math.toRadians(1.0))
                .setDistanceTolerance(0.5)
                .setTTolerance(0.95);
    }