Eventmap implementation - PathPlanner

Skai · March 20, 2023, 9:37pm

Hi everybody, our team is struggling with implementing events in path planner. Every time we enable, we receive the following error:

“Unhandled exception: java.lang.NullPointerException: Cannot invoke “com.pathplanner.lib.PathPlannerTrajectory.getMarkers()” because “examplePath” is null.”

Here is the GitHub fork:

github.com

HighSkai/Team-614-Charged-Up/blob/main/AdvancedCommandRobotExample/src/main/java/frc/robot/commands/PathPlannerLoadEventMapCommand.java

package frc.robot.commands;

import edu.wpi.first.wpilibj2.command.Command;
import edu.wpi.first.wpilibj2.command.InstantCommand;
import edu.wpi.first.wpilibj2.command.SequentialCommandGroup;
import frc.robot.RobotContainer;
import java.util.HashMap;
import com.pathplanner.lib.PathConstraints;
import com.pathplanner.lib.PathPlanner;
import com.pathplanner.lib.PathPlannerTrajectory;
import com.pathplanner.lib.commands.FollowPathWithEvents;

public class PathPlannerLoadEventMapCommand extends InstantCommand {
  private final String filename;
  private final boolean resetOdomtry;
  private final HashMap<String, Command> eventMap;

  public PathPlannerLoadEventMapCommand(String filename, boolean resetOdomtry, HashMap<String, Command> eventMap) {
    this.filename = filename;
    this.resetOdomtry = resetOdomtry;

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vzhao768 · March 20, 2023, 9:39pm

I think using PathPlanner.loadPathGroup(pathname, constraints) rather than loadPath should solve your issues

Skai · March 20, 2023, 10:37pm

We fixed the problem with it not moving, and we tried PathPlanner.loadPathGroup(pathname, constraints) and the events were still not working.

woodworker2001 · March 20, 2023, 10:44pm

We are using to autobuilder. We have a separate class loading the path group. Our sendable chooser returns the path group and then the autobuilder builds the auto using the same event map

Skai · March 21, 2023, 12:31pm

Thank you. I tried using the RamseteAutoBuilder and it worked perfectly to load the eventMap.