Can't get json trajectory files to java code

Technical Java
1 
package frc.robot.subsystems;

import java.io.IOException;
import java.nio.file.Path;

import edu.wpi.first.math.trajectory.Trajectory;
import edu.wpi.first.math.trajectory.TrajectoryUtil;
import edu.wpi.first.wpilibj.DriverStation;
import edu.wpi.first.wpilibj.Filesystem;

public class GetTrajectory {

    public static Trajectory get(String trajectoryJSON){
        Trajectory trajectory = new Trajectory();
        try {
            Path trajectoryPath = Filesystem.getDeployDirectory().toPath().resolve(trajectoryJSON);
            trajectory = TrajectoryUtil.fromPathweaverJson(trajectoryPath);
        } catch (IOException ex) {
            DriverStation.reportError("Unable to open trajectory: " + trajectoryJSON, ex.getStackTrace());
        }

        return trajectory;
    }

}
2

What is the problem you’re having? What have you tried and what errors have you gotten / issues are you seeing?

3

I get an error Unable to open trajectory then the path to the trajectory. I have tried manually making the trajectory and it worked but it will not get the json file created by pathweaver.

4

Is the JSON file in the deploy/ directory of the project?

5

/SWERVE-2024-1.0/deploy/paths/output

This is the directory for all JSON files.

6

What string are you passing as TrajectoryJSON in your code? Something like "paths/output/my.json"? The trajectoryPath being generated in your get() function is relative to the top-level deploy directory.

7

It is …\\Swerve-2024-1.0\\deploy\\paths\\output\\my.wpilib.json

This is because we are on windows.

8

Have you compared your code to the code here? Importing a PathWeaver JSON — FIRST Robotics Competition documentation Compare the string you’re providing to the one in that example.

9

Yes. This is the code I copied and then used it to make a method that we can call when we want.

10

here is all of our code. Github

11

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