Documentation Home¶
Welcome to the VantagePath documentation. VantagePath is a C++17 trajectory generation and control library for differential-drive robots.
If this is your first time using VantagePath, follow the numbered tutorials in order. They begin with a blank project and end with constrained, multi-segment autonomous trajectories, diagnostics, and safe robot commissioning.
If VantagePath is already configured and you need a class or function, go straight to the API reference.
Robot testing is required
Example gains are deliberately conservative. Wheel diameter, track width, feedforward, feedback gains, and trajectory limits must be measured on your own drivetrain before full-speed use.
What VantagePath provides¶
- C2-continuous quintic spline generation
- velocity, acceleration, deceleration, wheel-speed, centripetal, and voltage constraints
- time-indexed nonlinear pose feedback
- independent wheel feedforward and velocity feedback
- anti-windup, derivative filtering, and battery-aware voltage desaturation
- differential-drive SE(2) odometry
- built-in fused drive-encoder and dual-IMU classes for PROS
- explicit settled, timed-out, diverged, saturated, and cancelled states
- no dependency on PROS, WPILib, an RTOS, or a particular motor vendor
- a visual Studio with the calibrated 2026-27 Override field, exact quintic previews, draggable controls, alliance mirrors, and C++ export
Begin: install VantagePath Configure your drivetrain Compare VantagePath with LemLib Browse the API reference
Prefer to draw the route?¶
Open the visual editor, place waypoints directly on the correctly scaled
144-inch Override floor, adjust the control handles, mirror the route for the
other alliance or starting side, then download a .vpath file or generated
VantagePath C++.