Merge pull request #13 from Iris-TheRainbow/patch-1

Correct mistakes in roadrunner description
Pedro-Pathing · Nov 26, 2024 · 9765f23 · 9765f23
2 parents 659a22b + 6441222
commit 9765f23
Showing 1 changed file with 2 additions and 2 deletions.
diff --git a/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/pedroPathing/OVERVIEW.md b/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/pedroPathing/OVERVIEW.md
@@ -19,7 +19,7 @@ Why use Pedro Pathing? Why not something else like Road Runner or Pure Pursuit?
   * Pure Pursuit searches for the farthest point on the path that's within a certain radius from the robot. Pure Pursuit will then go in a straight line to that point. This poses several problems, as a small search radius will cause some oscillations on corners, and a large search radius will cut corners on paths, which makes the paths inaccurate to real life.
   * Pedro Pathing instead corrects to the closest point on the path while still following the path. This ensures that the follower will stay on the path while still being able to move forward along the path without cutting corners or encountering oscillation issues.
 * Why not Road Runner?
-  * Road Runner is a motion profile based follower, which means that a set of instructions for motor powers are calculated for each path beforehand and then run. After reaching the end of this motion profile, Road Runner corrects. This can be sufficient for most situations, but if the robot encounters an obstacle or wheel slippage, it may be unable to correct in time.
+  * Road Runner is a motion profile based follower, which means that a set of instructions for motor powers are calculated for each path beforehand and then run. During this motion profile, Road Runner can struggle to correct. This can be sufficient for many situations, but if the robot encounters an obstacle or wheel slippage, it may be unable to correct in time.
   * Pedro Pathing instead dynamically corrects throughout the path. The movement vectors are calculated at every point along the path, and because of this, the path can even be changed midway through and Pedro Pathing will still be able to correct. Since correction occurs throughout the path, the error correction isn't concentrated on the end of the path and therefore the robot is able to better minimize error.
 
 ## How Does Pedro Path?
@@ -106,4 +106,4 @@ control.
 
 ## Questions?
 If you still have more questions, feel free to contact us at `[email protected]` or
-within our discord linked here(https://discord.gg/2GfC4qBP5s)
+within our discord linked here(https://discord.gg/2GfC4qBP5s)