Can any team using Path Planner share the open source code? and how to use parameters like pose2d rotate2d and what does it do?
Do you have a differential or swerve drivetrain?
It sounds like you would benefit from this page that describes pose, translation, and rotation.
Here’s the link to the PathPlanner GitHub: GitHub - mjansen4857/pathplanner: A simple yet powerful motion profile generator for FRC robots
It has both the code for it and some basic documentation.
You’re welcome to take a look at our codebase this year which is using PathPlanner,
Rotation2d (and many other things). But I’m not certain if it will in fact answer your question.