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Pathplanning and Odometry

General notes for frc path planning:

  • Start slow. Set velocity and acceleration constraints that work, then slowly up things until it is both accurate and fast.
  • Make sure teleoperator control is good before adding path following. Automation is second.
  • Don't make 10 autonomous routines. Make a few really good ones that are compatible with alliance members.
  • Sometimes just raw PID path following is enough, in 2025 lots of teams used it because it was simple and effective.
  • Tune your drivetrain first!

Choreo

Choreo is a pathing software that allows you to create complex paths for your robot to follow, and is tuned specifically for FRC robots. I recommend using Choreo over Pathplanner for most teams, as it is more intuitive and accurate for FRC robots. You can read about how to use it at choreo.autos.

Pathplanner

Pathplanner is a good pathing software that allows you to create complex paths for your robot to follow. I think it lacks some of the useful features that Choreo has, and the UI is not as intuitive, but it still works well, especially for teams that are already familiar with it. You can read about how to use it at pathplanner.dev.