Path Following

Pure Pursuit + Boomerang usage.

Pure Pursuit

auto path = clasi::make_arc(0, 0, 24, 0, 60, 8);
pure_pursuit.follow_path(drive, path,
                         clasi_config::kLookaheadIn,
                         clasi_config::kPathMaxPct);

Boomerang

boomerang.go_to(drive, 30, 18, 45, 60);