[FEATURE] Path Breakpoints

[22yeets22]

Problem

Currently, the chassis lacks a reliable method to stop at a precise position along a path. The existing void waitUntil(float dist) function is often inaccurate and difficult to use. As a result, actions like extending pneumatics, spinning the intake, or running other motors at specific points are unreliable. Creating multiple paths to achieve this is also tedious and cumbersome.

Proposed Solution

Introduce a waitUntilBreakpoint function that pauses execution at a defined breakpoint within a path. This would likely require updates to the path-making website to support adding and referencing breakpoints.

Current Implementation

• void waitUntil(float dist) – imprecise and annoying to use and tune to the right position.
• Using multiple paths – inconvenient and labor-intensive.

Motivation

Lemlib aims to simplify odometry and autonomous planning. Adding breakpoints would make it significantly easier to schedule actions along a path, making it easier for all users.

Possible Implementations

• Keep waitUntil()
• Add waitUntilBreakpoint(int breakpointId) – waits until a specific breakpoint.
• Optionally, waitUntilNextBreakpoint() – waits until the next breakpoint in the path.