Pedro Pathing This year, we switched from Roadrunner to Pedro Pathing. The main reason we spent time implementing a completely new path following system is because Roadrunner follows your path with precalculated motor powers, and then mostly corrects once it reaches the end of the path. Pedro corrects the entire time, resulting in more accurate path following and allowing the robot to correct itself in cases where Roadrunner would fail. Pedro also has the major benefit of making tuning localization with the Sparkfun sensor significantly easier, and the first time we were able to get localization working in Less than 10 min.
