BLine is an open-source path generation and tracking suite designed for holonomic drivetrains (swerve, mecanum, etc.) made by students for students. It's built around simplicity and performance in time-constrained environments where quick iteration and rapid empirical testing prove advantageous.

📚 Documentation — full guides, tutorials, and reference.

📖 Javadoc — full Java API documentation.

🎨 BLine-GUI — visual path planning interface.

💬 Chief Delphi Thread — discussion, feedback, and announcements.

1. Open VS Code with your FRC project
2. Press Ctrl+Shift+P (or Cmd+Shift+P on Mac)
3. Type "WPILib: Manage Vendor Libraries"
4. Select "Install new libraries (online)"
5. Paste this URL:

https://raw.githubusercontent.com/edanliahovetsky/BLine-Lib/main/BLine-Lib.json

Add JitPack repository to your build.gradle:

repositories {
    maven { url 'https://jitpack.io' }
}

Add the dependency:

dependencies {
    implementation 'com.github.edanliahovetsky:BLine-Lib:v0.8.1'
}

For a complete getting started guide, see the Full Documentation.

import frc.robot.lib.BLine.*;
import edu.wpi.first.math.controller.PIDController;

// 1. Set global constraints
Path.setDefaultGlobalConstraints(new Path.DefaultGlobalConstraints(
    4.0,    // maxVelocityMetersPerSec
    3.0,    // maxAccelerationMetersPerSec2
    360.0,  // maxVelocityDegPerSec
    720.0,  // maxAccelerationDegPerSec2
    0.05,   // endTranslationToleranceMeters
    2.0,    // endRotationToleranceDeg
    0.3     // intermediateHandoffRadiusMeters
));

// 2. Create a reusable path builder
FollowPath.Builder pathBuilder = new FollowPath.Builder(
    driveSubsystem,
    driveSubsystem::getPose,
    driveSubsystem::getChassisSpeeds,
    driveSubsystem::drive,
    new PIDController(5.0, 0.0, 0.0),  // translation
    new PIDController(3.0, 0.0, 0.0),  // rotation
    new PIDController(2.0, 0.0, 0.0)   // cross-track
).withDefaultShouldFlip()
 .withPoseReset(driveSubsystem::resetPose);

// 3. Load and follow a path
Path myPath = new Path("myPathFile");  // loads deploy/autos/paths/myPathFile.json
Command followCommand = pathBuilder.build(myPath);

BLine has been validated through extensive testing with a WPILib physics simulation, utilizing Theta* for initial pathfinding and an Artificial Bee Colony (ABC) optimizer to benchmark the system against PathPlanner.

Quantitative Results from randomized Monte Carlo trials:

• 97% reduction in path computation time
• 66% reduction in cross-track error at waypoints
• Negligible 2.6% decrease in total path tracking time compared to PathPlanner

Read the Full White Paper

./gradlew build

Generate Javadoc locally:

./gradlew javadoc
# Open build/docs/javadoc/index.html

If another robot repo consumes your local BLine-Lib checkout (for example via includeBuild) and you run ./gradlew clean in this repo, you may need to rebuild the jar before the robot repo can package/sim successfully.

./gradlew jar

This regenerates build/libs/BLine-Lib-<version>.jar that some downstream fat-jar tasks expect.

BSD 3-Clause License — See LICENSE file.