def generate_pure_pursuit_path():
global pp
pp = PurePursuit()
for i in range(len(instructions)):
# add x,y coords from each point in the generated trajectory as waypoints.
# this is better than just adding the 5 nodes as waypoints.
pp.add_point(instructions[i][1], instructions[i][2])
interpolate_path(i) #TODO comment out when not debugging.
def generate_hard_path():
global pp
pp = PurePursuit()
# this creates a path manually set by changing waypoints here.
# used for testing the robot on a small course by the lab.
pp.add_point(0, -1)
pp.add_point(2, -1)
pp.add_point(2, 1)
pp.add_point(0, 1)