RAMSETE Path Following Visualizer

A real-time tool for testing and tuning RAMSETE path-following algorithms for differential drive robots. Simulates robot motion with accurate kinematics and provides a visual interface for path tracking and tuning.

Features

• Real-time RAMSETE controller simulation
• Live path tracking (planned vs actual)
• Optional motor acceleration & RPM limits
• Multi-threaded control & rendering
• CSV path loading for Path Planner at: (https://path.jerryio.com)
• Interactive pause/tuning controls
• Node-based waypoints (rotate/reverse support)

Project Structure

src/        # Core simulation and control code
paths/      # Path behaviors & CSVs
resources/  # Robot sprite & field background
Makefile

Dependencies

• Raylib — see Raylib GitHub Releases
• C++17

Build & Run

make
make run
make clean 

NOTE:

- TUNE YOUR ACCELERATION AND RPM SPEEDS ACCORDINGLY IN THE PATH PLANNER SO THAT IT IS COMPATIBLE WITH THE MOTOR'S SLEW RATE, RERUN MANY TIMES UNTIL YOU GET THE BEST OUTCOME 

Usage

• Run — make run
• Pause/Resume — Press SPACE
• Nodes — Blue circles with numbers
• Color — Color is based on RPM Acceleration

Configure paths in src/control.hpp:

#include "paths/your_path.cpp"
std::vector<int> rotating_indices = {4, 9, 13}; // when you want to rotate
std::vector<int> reverse_indices  = {6, 7}; // when you want to reverse

Starting Node Configuration

Configure where the robot begins on the path by modifying src/control.hpp:

#define STARTING_NODE 1  // Start from node 1 (default)
#define STARTING_NODE 5  // Start from node 5 (skip to middle of path)

Tune parameters in constants.cpp:

#define TRACK_WIDTH_M 0.381 // in meters
#define WHEEL_RADIUS_M 0.0508 // in meters
#define MAX_SPEED_OUTPUT 600.0 // in RPM

Tune parameters in ramsete.cpp:

#define B 2.0 // AGGRESIVENESS FACTOR
#define ZETA 0.7 //  DAMPING FACTOR

Real Robot Deployment

Use:

• ramsete.hpp
• path.hpp
• motor.hpp
• constants.hpp
• control.hpp

Remove:

• main.cpp
• color.cpp
• Raylib dependencies