Choreo (Constraint-Honoring Omnidirectional Route Editor and Optimizer, pronounced like choreography) is a graphical tool for planning time-optimized trajectories for autonomous mobile robots in the FIRST Robotics Competition.

Download and Install

Grab the latest release for your platform on the releases page.

Usage and Documentation

Check out the Docs, which covers installation, usage, building, and ChoreoLib.

Robot code integration

An example project using Choreo is available here.

Authors

The 2024 field background was traced from the field renders provided by MikLast.