From 41b9d6c5b07e7223d35035a57456372ebb6433ef Mon Sep 17 00:00:00 2001
From: potatehoes <acetousk@users.noreply.github.com>
Date: Fri, 9 Aug 2019 14:19:19 -0600
Subject: [PATCH] Update README.md

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 # autolib
-*a pros library for advanced vex autonomous programming*
+
+**Summary** 
+
+AutoLib is a Pros C++ Library based off of OkapiLib for Advanced Vex Autonomous Programming. 
+ 
+*Notice: AutoLib Version 1 beta is coming out soon! And we would love your contributions! To find us, email acetousk@gmail.com or ping on the [Unofficial Vex Discord](https://discord.gg/) @potatehoes#7782*
+
+## Why AutoLib?
+
+### Features:
+ - PathGenerator: A simplified easy class for generating a path.
+ - PurePursuit: A robust path following algorithm for controlling your robot's chassis.
+ - Documentation: Great Documentation for Expert to Newbie Vex Team Programmers
+ - Open Source: You can contribute to this project.
+ 
+## Docs
+We know nobody reads through the long and boring documentation in the ReadMe anyway, so head over to the documentation website:
+
+[https://github.com/team914/autolib/wiki](https://github.com/team914/autolib/wiki)
+
+## Examples
+
+### Implimentation
+```cpp
+//This will construct the PathGenerator class
+PathGenerator pathGenerator(
+{
+  //The first point is, by default, automatically 0, 0
+  autolib::Point{ -1_ft, 1_ft }, //This generates a Point at ( -1 foot, 1 foot )
+  autolib::Point{ 0_ft, 2_ft },  //Then ( 0 feet, 2 feet )
+  autolib::Point{ 1_ft, 1_ft },  //Then ( 0 feet, 2 feet )
+  autolib::Point( 1_in, 1_in )   //Then ( 1 inch, 2 inches )
+  //You can send any number of points along your path.
+}, .1_in /**This is the distance between each point after you generate a path. 
+          * The more points the better, however more points will take longer 
+          * to setup in pre auton.
+          */
+);
+
+/**This will generate a series of points based off an algorithm. 
+ * Currently only HermiteSpline is supported. To figure out how this algoritm works, 
+ * we suggest you check this desmos graph out. https://www.desmos.com/calculator/h2jshqzjdo
+ */
+pathGenerator.generatePath( PathGenerator::PathType::HermiteSpline );
+
+//This will construct the PurePursuit class
+PurePursuit purePursuit( 
+  pathGenerator.getPath(), // this will send the path from the PathGenerator to PurePursuit
+  4_in                     // this is the Pure Pursuit Algorithm's lookaheadDistance
+);
+
+/**This should be run in a loop during auton. This uses okapi's odometry feature to 
+ * identify the current global x, y, and yaw of the robot. This data is extremely vital 
+ * to the Pure Pursuit Algorithm. If this data is signifigantly off the actual position, 
+ * then it can and probaly *will* mess up your auton.
+ */
+purePursuit.getGoalCurvature( 0_ft, 0_in, 0_rad );
+
+```
+## Contributing
+
+We love contributions from the community! Contributions are
+accepted using GitHub pull requests; for more information, see 
+[GitHub documentation - Creating a pull request](https://help.github.com/articles/creating-a-pull-request/). In addition, dealing with git branches and forks can be tricky if you don't already know how to use them; see [Editing and Creating a new branch with git and manage branches](https://github.com/acetousk/autolib/wiki/Editing-Create-a-new-branch-with-git-and-manage-branches)
+
+For a good pull request, we ask you provide the following:
+
+1. Include a clear description of your pull request in the description with the basic "what" and "why"s for the request.
+2. If the pull request is a new feature, please include appropriate documentation in the wiki.
+3. Keep a consistent coding style.
+
+## License
+
+AutoLib is licensed under the MIT license.