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Experimentation during the 2025 offseason with the capability to follow curves and deceleration profiles.
Contains docs, but they can be slightly misleading.
About
A reactive and predictive path follower that uses quadratic-damped PIDs to model the robot's real braking behavior due to the non-linear effects of friction, providing faster, more accurate, and more responsive control with up to 5× faster deceleration than libraries with coasting-based PIDs.