Pretty sure there's undefined behaviour somewhere btw so don't use this code 💀. Also my fault for the inconsistent formatting / naming.
Check here for completed, working version (what was used at nationals)
- coopers rough (and broken) motion profiling implementation
- wpilib for RAMSETE implementation
- this book for RAMSETE explanation
- deepseek for vibecoding the whole path planner 🐐
- this and this codebases for pros multithreading stuff
- finish main chassis task
- add quintic bezier support with c2 continuity
- fix path planner importing standalone bezier curves
- find potential UB so I'm not screwed at worlds
- support flipping autons properly