My undergraduate supervisor is giving me very little help
Let me suggest polite collective action. Have a group of you, maybe three, go to the prof during some scheduled time and just present the case that you need more direction and ask them to find a way to provide it. Or alternatively, a way to be a success without it. 

Try to present it as a need, not as a complaint. The prof may also be dissatisfied with the amount of supervision they can give. You are generous in your assessment, and this will help. But the prof does owe you proper supervision under the circumstances you describe.