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Motion Control Framework

This repository contains the code for our robot in the 2025-2026 Vex Robotics season Push Back.

Features

  • Position tracking via Odometry.
  • Driving to points on a coordinate system while using a sigmoid function to maintain heading as it approaches the target.
  • A boomerang controller to drive to a point with a specified final heading.
  • Turning to a specified heading or coordinate.
  • A PID controller for all our motions.
  • An interpolated look up table (InterpLUT) to tune PID constants in real time while the autonomous is running.
  • A 1D motion profile for accelerating, crusing at a maximum velocity, and then decelerating to the final velocity.
  • A 2D motion profile that generates a trajectory from a Cubic Bezier curve, finds the velocities at each point, and compensates for centripetal force while turning.
  • Other driver code for controlling the chassis and other subsystems.

There is also a visualizer to accompany this template which allows you to visualiize Odometry and PID data.

About

A library for autonomous motions along with some driver code.

Resources

Readme
Activity

Stars

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Watchers

1 watching

Forks

0 forks
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GitHub - Github11200/Motion-Control-Framework: A library for autonomous motions along with some driver code. · GitHub
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Motion Control Framework
This repository contains the code for our robot in the 2025-2026 Vex Robotics season Push Back.
Features
  • Position tracking via Odometry.
  • Driving to points on a coordinate system while using a sigmoid function to maintain heading as it approaches the target.
  • A boomerang controller to drive to a point with a specified final heading.
  • Turning to a specified heading or coordinate.
  • A PID controller for all our motions.
  • An interpolated look up table (InterpLUT) to tune PID constants in real time while the autonomous is running.
  • A 1D motion profile for accelerating, crusing at a maximum velocity, and then decelerating to the final velocity.
  • A 2D motion profile that generates a trajectory from a Cubic Bezier curve, finds the velocities at each point, and compensates for centripetal force while turning.
  • Other driver code for controlling the chassis and other subsystems.
There is also a visualizer to accompany this template which allows you to visualiize Odometry and PID data.
About
A library for autonomous motions along with some driver code.
Resources
Readme
Activity
Stars
0 stars
Watchers
1 watching
Forks
0 forks
Report repository
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, 'i');
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GitHub - Github11200/Motion-Control-Framework: A library for autonomous motions along with some driver code. · GitHub
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Repository files navigation
Motion Control Framework
This repository contains the code for our robot in the 2025-2026 Vex Robotics season Push Back.
Features
  • Position tracking via Odometry.
  • Driving to points on a coordinate system while using a sigmoid function to maintain heading as it approaches the target.
  • A boomerang controller to drive to a point with a specified final heading.
  • Turning to a specified heading or coordinate.
  • A PID controller for all our motions.
  • An interpolated look up table (InterpLUT) to tune PID constants in real time while the autonomous is running.
  • A 1D motion profile for accelerating, crusing at a maximum velocity, and then decelerating to the final velocity.
  • A 2D motion profile that generates a trajectory from a Cubic Bezier curve, finds the velocities at each point, and compensates for centripetal force while turning.
  • Other driver code for controlling the chassis and other subsystems.
There is also a visualizer to accompany this template which allows you to visualiize Odometry and PID data.
About
A library for autonomous motions along with some driver code.
Resources
Readme
Activity
Stars
0 stars
Watchers
1 watching
Forks
0 forks
Report repository
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Used by
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GitHub - Github11200/Motion-Control-Framework: A library for autonomous motions along with some driver code. · GitHub
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Repository files navigation
Motion Control Framework
This repository contains the code for our robot in the 2025-2026 Vex Robotics season Push Back.
Features
  • Position tracking via Odometry.
  • Driving to points on a coordinate system while using a sigmoid function to maintain heading as it approaches the target.
  • A boomerang controller to drive to a point with a specified final heading.
  • Turning to a specified heading or coordinate.
  • A PID controller for all our motions.
  • An interpolated look up table (InterpLUT) to tune PID constants in real time while the autonomous is running.
  • A 1D motion profile for accelerating, crusing at a maximum velocity, and then decelerating to the final velocity.
  • A 2D motion profile that generates a trajectory from a Cubic Bezier curve, finds the velocities at each point, and compensates for centripetal force while turning.
  • Other driver code for controlling the chassis and other subsystems.
There is also a visualizer to accompany this template which allows you to visualiize Odometry and PID data.
About
A library for autonomous motions along with some driver code.
Resources
Readme
Activity
Stars
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Watchers
1 watching
Forks
0 forks
Report repository
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, 'i');
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try {
var __m = "youtube.com";
var __re = new RegExp('^' + "youtube\\.com" + '
GitHub - Github11200/Motion-Control-Framework: A library for autonomous motions along with some driver code. · GitHub
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Repository files navigation
Motion Control Framework
This repository contains the code for our robot in the 2025-2026 Vex Robotics season Push Back.
Features
  • Position tracking via Odometry.
  • Driving to points on a coordinate system while using a sigmoid function to maintain heading as it approaches the target.
  • A boomerang controller to drive to a point with a specified final heading.
  • Turning to a specified heading or coordinate.
  • A PID controller for all our motions.
  • An interpolated look up table (InterpLUT) to tune PID constants in real time while the autonomous is running.
  • A 1D motion profile for accelerating, crusing at a maximum velocity, and then decelerating to the final velocity.
  • A 2D motion profile that generates a trajectory from a Cubic Bezier curve, finds the velocities at each point, and compensates for centripetal force while turning.
  • Other driver code for controlling the chassis and other subsystems.
There is also a visualizer to accompany this template which allows you to visualiize Odometry and PID data.
About
A library for autonomous motions along with some driver code.
Resources
Readme
Activity
Stars
0 stars
Watchers
1 watching
Forks
0 forks
Report repository
Releases
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Used by
Contributors
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, 'i');
if (__m === '*' || __re.test(location.href)) {
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(function(){
try {
var __m = "*";
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GitHub - Github11200/Motion-Control-Framework: A library for autonomous motions along with some driver code. · GitHub
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Repository files navigation
Motion Control Framework
This repository contains the code for our robot in the 2025-2026 Vex Robotics season Push Back.
Features
  • Position tracking via Odometry.
  • Driving to points on a coordinate system while using a sigmoid function to maintain heading as it approaches the target.
  • A boomerang controller to drive to a point with a specified final heading.
  • Turning to a specified heading or coordinate.
  • A PID controller for all our motions.
  • An interpolated look up table (InterpLUT) to tune PID constants in real time while the autonomous is running.
  • A 1D motion profile for accelerating, crusing at a maximum velocity, and then decelerating to the final velocity.
  • A 2D motion profile that generates a trajectory from a Cubic Bezier curve, finds the velocities at each point, and compensates for centripetal force while turning.
  • Other driver code for controlling the chassis and other subsystems.
There is also a visualizer to accompany this template which allows you to visualiize Odometry and PID data.
About
A library for autonomous motions along with some driver code.
Resources
Readme
Activity
Stars
0 stars
Watchers
1 watching
Forks
0 forks
Report repository
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, 'i');
if (__m === '*' || __re.test(location.href)) {
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GitHub - Github11200/Motion-Control-Framework: A library for autonomous motions along with some driver code. · GitHub
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Repository files navigation
Motion Control Framework
This repository contains the code for our robot in the 2025-2026 Vex Robotics season Push Back.
Features
  • Position tracking via Odometry.
  • Driving to points on a coordinate system while using a sigmoid function to maintain heading as it approaches the target.
  • A boomerang controller to drive to a point with a specified final heading.
  • Turning to a specified heading or coordinate.
  • A PID controller for all our motions.
  • An interpolated look up table (InterpLUT) to tune PID constants in real time while the autonomous is running.
  • A 1D motion profile for accelerating, crusing at a maximum velocity, and then decelerating to the final velocity.
  • A 2D motion profile that generates a trajectory from a Cubic Bezier curve, finds the velocities at each point, and compensates for centripetal force while turning.
  • Other driver code for controlling the chassis and other subsystems.
There is also a visualizer to accompany this template which allows you to visualiize Odometry and PID data.
About
A library for autonomous motions along with some driver code.
Resources
Readme
Activity
Stars
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Watchers
1 watching
Forks
0 forks
Report repository
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Used by
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