Currently, I generate a separate path for each “part” in my auto and have the ramsete command perform it, then pack that action into a command and have the collection of all the paths be run in sequence, with other commands being run in between. Now I know I could just have one trajectory and use parallel wait commands but the thing is I like how it is now because it allows you to change stuff on the fly. My only issue is that it creates a lot of clutter in our codebase and I notice these .path files, was wondering if I could take advantage of those as I’m able to create checkpoints in PathPlanner. Are those the poses? Would it be possible to break them apart into their own separate commands?
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