The code needs some heavy refactoring.....

I currently see

• Race Conditions
• Unnecessary variables
• Algorithms that can be better designed

State and describe your question
It seems like the converter.exe mentioned in the "getting started guide - https://holonomiclibdocs.readthedocs.io/en/latest/Docs/Intro/GettingStarted.html " is an exe file - just curious, would it work on macOS? Many thanks!

The pneumatic wrapper we used last year were very useful. Maybe we can add it into this lib as well since we will be using it this year. It is your call however since it is not actually directly connected to holonomic chassis control.

The current TimedTrajectory usage doesn't make much sense since we are not following the profiled velocity and simply using pid to move toward the target point. This means that the time it provides actually wouldn't make much sense in the first place.

It is probably better to use something purely feedback based like pure pursuit to follow discrete waypoints. The main issue associated with pure pursuit, the end position / settle angle wouldn't be much of an issue with holonomic drives, meaning pure pursuit can be very robust for holonomic drives.

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Describe the bug
The output calculation is broken. It seems to only account for rotation and moving forward, and does not move left/right.

To Reproduce
Steps to reproduce the behavior:

1. Run the code in main.cpp

Expected behavior
Should go to 2_ft, 2_ft, 45_deg (forward 2 ft, right 2 ft, turn 45 deg)

Actual behavior
Goes to 2_ft, 0_ft, 45_deg (forward 2 ft, right 0 ft, turn 45 deg)

Screenshots
n/a

Additional context
n/a

Issue:
Pathplanner's path is a little too close together for pure pursuit, and it takes a long time to generate and copy. Its better to just switch to generating paths internally.

Rather than using Pathplanner, I think it would be better to visualize bezier curves using something like Louis' Chassim a few years ago. It'll be more lightweight and allows us to display a vex field for even easier visualizaton.

How to approach:
Transfer lib4253's pathing components into HolonomicLib

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Is your feature request related to a problem? Please describe.
I HATE FORMATTING CODE

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Add Clang-Format to the code

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Describe the bug
The code seg faults when you run it

To Reproduce
Steps to reproduce the behavior:

1. Build + upload code from dev branch

Expected behavior
Should have created the controller and moved to 2_ft, 2_ft, 45_deg

Screenshots

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Describe the bug
When running the command: pros conductor fetch [email protected], the error KeyError: "There is no item named 'template.pros' in the archive" occurred. I tried putting the [email protected] file inside the src folder and in the root of the project (outside of src) but nothing changed. Any advice will be appreciated.

To Reproduce
https://holonomiclibdocs.readthedocs.io/en/latest/Docs/Intro/GettingStarted.html

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It would be good if we can include a unit testing framework like gtest or doctest so we can test code on the fly. I think the easiest way is to follow Okapi's mocking api and add more unit tests above that.