Tabi Robot LTV Drive

This is the LTV (Linear Time-Varying) Drive system for the Tabi robot. It is built on top of the TabiSubsystem and lets the robot drive to a point on the field automatically.

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How It Works

• The robot keeps track of its current position using encoders and gyro.
• You give it a target point (X, Y, and heading), and it computes:
  • How far to drive forward (vx)
  • How much to turn (omega)
• The robot drives toward the target smoothly and stops when it gets close enough.

Key Classes:

• TabiSubsystem → handles motors, gyro, odometry, and arcade drive.
• LTVDrive → calculates speeds to reach a target point.
• LTVDriveToPointCommand → a command that uses LTVDrive and stops the robot at the target.

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Why LTV is Better than Simple Differential Drive

• Smarter movement: The robot moves toward a target instead of just driving for a set time or distance.
• Adaptive turning: It turns to face the target while moving.
• Works for autonomous: You can use it in autos to drive precise paths.
• Stops accurately: It knows when it reaches the point and stops, unlike driving by time which may overshoot.

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How to Use

1. Create a new LTV command with a target:

new LTVDriveToPointCommand(new Pose2d(2.0, 0.0, new Rotation2d()), m_tabiSubsystem);