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About VantagePath

VantagePath exists for teams that have outgrown point-to-point PID and fixed lookahead path following. It plans what the robot should be doing at every instant—pose, curvature, velocity, acceleration, and wheel speed—then combines model-based feedforward with feedback to stay on that plan.

The core is framework-neutral C++17. A project supplies sensor measurements, time, battery voltage, and the final motor-voltage write. This keeps the same trajectory mathematics usable in PROS, FRC, a desktop simulator, or another embedded framework.

Design goals

  • predictable behavior at corners and endpoints;
  • constraints that represent what a tank drive can physically do;
  • no hidden motor or task ownership;
  • measurable failure states instead of a single timeout boolean;
  • host-side testing before code reaches a robot;
  • a small public API students can understand and explain.

VantagePath is MIT licensed. See the GitHub repository for source and release history.