01 — Overview
What is AlliedPath?
AlliedPath is a browser-based path planning tool built in-house by Team Allied Algorithms for FLL autonomous mission runs. Map your robot's waypoints on a coordinate grid, measure real distances in inches, and preview the full run before competition day.
Waypoint Plotting
Click any cell on the 93×45 inch grid to drop a waypoint. Edit coordinates and heading inline. Click again to remove.
Inch-Accurate Grid
Each cell equals one inch. Axis labels display real measurements so paths map directly to the physical FLL mat.
Turn Angles
Signed turn angles display at every intermediate waypoint. Positive values indicate left turns, negative values indicate right turns.
Per-Point Headings
Each waypoint stores an editable heading in degrees. An arrow renders on the canvas showing the robot's facing at that point.
Robot Simulation
Configure robot width and length in inches. The rectangle follows the path, rotating to match segment heading in real time.
Save & Share
Download the tool as a single self-contained HTML file with all waypoints embedded. No server or login required.
02 — Guide
Getting Started
From a blank grid to a complete autonomous path in a few minutes.
01
Open the Tool
Navigate to
alliedalgos.org/pathing or open alliedpath.html locally in any modern browser. The tool runs entirely client-side — no installation required.02
Configure Robot Size
Enter your robot's Width and Length in inches via the Vehicle Size panel in the sidebar. These values control the simulated robot rectangle.
FLL robots must fit within the 12"×12" starting square — use your robot's actual dimensions for accurate path previewing.
03
Place Waypoints
Click grid cells to drop waypoints. Each point connects to the next with a blue line. Segment distances in inches appear as floating midpoint labels.
Click an existing point to remove it. Points connect in the order they were placed.
04
Edit Points in the Sidebar
Each point appears with editable
x, y, and h° fields. Enter exact values and press Enter — the canvas updates immediately.05
Set Headings
The
h° field at each waypoint sets the robot's facing direction in degrees. A yellow arrow renders on canvas. 0° = right (East), 90° = up (North).06
Run the Simulation
Press Play to animate the robot along the path. Use the progress slider to scrub to any position. Adjust speed from
0.5× to 4×. Live heading and position update each frame.07
Save Your Path
Click Save File to download
alliedpath.html with all waypoints embedded. Reopen the file at any time or share it with teammates.
03 — Reference
Field Reference
(0, 0) sits at the bottom-left corner of the field. X increases rightward, Y increases upward. One cell = one inch.
Property
Value
Notes
Grid Width
93 in
X axis — 0 to 92 inches
Grid Height
45 in
Y axis — 0 to 44 inches
Cell Size
1 in / cell
Direct 1:1 inch mapping
Origin
Bottom-Left
Standard math coordinate convention
Heading 0°
East / Right
Counter-clockwise positive
Heading 90°
North / Up
Toward increasing Y
Heading 180°
West / Left
Toward decreasing X
Turn angles
Signed °
Positive = left turn, Negative = right turn
Segment Distance
Euclidean in
Straight-line distance between consecutive waypoints
Sidebar Input Fields
Field
Type
Description
x
integer, 0–92
Horizontal position in inches from the left edge
y
integer, 0–44
Vertical position in inches from the bottom edge
h°
float, degrees
Robot heading at this waypoint — 0°=right, 90°=up, 180°=left, 270°=down
Width
integer, inches
Robot rectangle short-side dimension in inches
Length
integer, inches
Robot rectangle long-side dimension in inches
04 — Playback
Simulation Controls
All playback controls activate once two or more waypoints have been placed.
Play / Pause
Starts or pauses the robot animation along the path. If playback has ended, pressing Play restarts from the beginning.
Speed Selector
Set playback speed to
0.5×, 1×, 2×, or 4× to preview fast or precise run timings.Progress Slider
Scrub the robot to any point along the path during playback or while paused. Displays percent completion.
Live Heading
Displays the robot's current heading in degrees, derived from the current path segment direction.
Live Position
Shows the interpolated robot position as
(x", y") in real inch coordinates, updated every animation frame.Segment Labels
Each path segment displays its straight-line length in inches as a rotated midpoint label following the line.
05 — Team
ALLIED ALGORITHMS
#58590
BUILT FOR
CHAMPIONS
Team Allied Algorithms is a FIRST LEGO League team based in Connecticut. In the 2025–2026 season we placed 1st at the CT State Championship and qualified for the FLL World Championship. AlliedPath was built by our software division to give every team member a precise visual of our autonomous strategy.
1st
CT State Championship
Worlds
World Championship Qualifier
FLL
FIRST Lego League · 2025–2026
FLL Season 2025–2026 · Connecticut · Team #58590