RoadRunner vs PedroPathing

Volt integrates with both RoadRunner and PedroPathing for localization, autonomous pathing, and manual control.

Note

If you have not added a drivetrain yet, start with Adding a Drivetrain.

Quick comparison

Factor	RoadRunner	PedroPathing
Drivetrain support	Mecanum, tank	Mecanum, swerve
Motion style	Pose-based trajectories	Path-based lines, splines, and path chains
Choose this if	You already use RoadRunner or need tank support	You already use PedroPathing or need swerve support

If you already have one backend tuned and working, keep using it.

How to choose

Choose the backend in this order:

1. Hardware support: Does it match your drivetrain?
2. Action style: Do you prefer trajectories or paths?
3. Tuning effort: Do you already have one tuned?

Hardware support

• RoadRunner works with mecanum and tank drivetrains.
• PedroPathing works with mecanum and swerve drivetrains.
• Both integrate with Volt’s localization options.
• PedroPathing also supports three dead wheels + an IMU.

Actions

RoadRunner

RoadRunner is the better fit if you want to start from a pose and build a trajectory from there.

• strafeTo(from: Pose2d, to: Vector2d)
• strafeToLinearHeading(from: Pose2d, to: Pose2d)
• splineTo(from: Pose2d, to: Vector2d, tangent: Rotation2d)
• splineToLinearHeading(from: Pose2d, to: Pose2d, tangent: Rotation2d)
• turnTo(from: Pose2d, to: Radians)
• turnTo(from: Pose2d, to: Degrees)
• turn(from: Pose2d, radians: Radians)
• turn(from: Pose2d, degrees: Degrees)
• trajectory(from: Pose2d, block: TrajectoryActionBuilder.() -> TrajectoryActionBuilder)

PedroPathing

PedroPathing is the better fit if you want to compose lines, splines, and path chains directly.

• pathTo(pathChain: PathChain)
• lineTo(line: BezierLine)
• lineToLinearHeading(line: BezierLine, initial: Radians, final: Radians)
• lineToLinearHeading(line: BezierLine, initial: Degrees, final: Degrees)
• lineToConstantHeading(line: BezierLine, heading: Radians)
• lineToConstantHeading(line: BezierLine, heading: Degrees)
• lineToTangentHeading(line: BezierLine)
• splineTo(line: BezierLine)
• splineToLinearHeading(curve: BezierCurve, initial: Radians, final: Radians)
• splineToLinearHeading(curve: BezierCurve, initial: Degrees, final: Degrees)
• splineToConstantHeading(curve: BezierCurve, heading: Radians)
• splineToConstantHeading(curve: BezierCurve, heading: Degrees)
• splineToTangentHeading(curve: BezierCurve)
• path(startPose: Pose, block: PedroPathingActionBuilder.() -> PedroPathingActionBuilder)
• followPath(block: PathBuilder.() -> Unit)

Tuning

Both backends require tuning before they will drive accurately. See Tuning Your Robot for the backend-specific setup guides.