I am writing autonomous code for a falcon swerve robot with pathplanner in Java, and I need help figuring out how it works. I am a new programmer with little experience so forgive me if this seems stupid. The swerve code is based off of 364 swerve code. I was wondering if there is maybe an example code using pathplanner with it? My current code is here. Thanks!
Our (364) practical code is available on our Programming team’s GitHub . It is based on the 364BFS but has integrations with Pathplanner and advantagekit so it may be helpful to look at for reference.
Feel free to reach out if you have any questions in regards to this code or any programming questions in general. We will be continuing to push changes to our code as the season begins as well since it is currently on the 2024 WPILib beta.
It looks like you’re using all CTRE components (Falcons, CANCoders, and Pigeon 2). With this setup, I highly recommend looking at CTRE’s Swerve project generator and library. It’s new for 2024 and it’s pretty great.
They have an example project with PathPlanner here.
Both of these require you to use 2024 beta versions, or wait a few days for release versions.
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