Improvements over version 1?

[vannaka]

I am curious in what ways this will be better than version 1?

Keep up the hard work. Pathfinder has made motion profiling accessible to a lot more people!

[JaciBrunning]

The main improvements are the following:

• More composable: the whole library is a lot more modular, so you can add your own portions to match your use case, or mix and match.
• More accurate to real-world models: The drivetrain calculations are now completely model-driven, which should improve accuracy, stability and also make feed-forward only control more feasible
• Faster: There's been a lot of improvement in the speed of the library, particularly in part to the arc parameterization, courtesy of Jared Russel

There are others, but that's the main gist of it

[cjlawson02]

Does the new pathfinder support backwards paths?

[JaciBrunning]

It will, yes