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InfluxDB
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Arguably the most distinct aspect of SwoLib is its fully dynamic autonomous capabilities. Thanks to the aforementioned AprilTag-based positioning, a robot employing SwoLib’s autonomous utilities is capable of starting anywhere on the field and following the same predefined paths. SwoLib performs motion profiling and path calculations at runtime. The paths are composed of a list of waypoints that can be generated from our own modified version of pathplanner. This allows the robot to discern its position on the field using a Limelight + AprilTags and then move to the correct starting position when the autonomous period begins! Not only can this be applied in autonomous, but also in the teleop period too! Team 2875 uses this to automatically position our robot to place cones/cubes (in teleop), and we can begin this automatic positioning from anywhere on the field!