Are any teams familiar with pathfinder? Especially one with a differential drive? I would like a snippet of the code or a GitHub link because I’m having a hard time understanding how to get it to work. I am new to advanced autonomous programming.
1 Like
are you using wpilibs built in pathweaver or path planner as a separate library? I have some experience with pathplanner from this season and might be able to help with that, no clue about pathweaver though. Also my teams code is for a swerve drive, not a differential drive so some things will be different. https://github.com/HighlanderRobotics/Rapid-React/blob/main/src/main/java/frc/robot/subsystems/DrivetrainSubsystem.java near the bottom is the method that generates the path following command. https://github.com/HighlanderRobotics/Rapid-React/blob/main/src/main/java/frc/robot/commands/AutonomousChooser.java this class holds our auto routines and generates those commands. These are pretty poorly documented so feel free to ask me questions.
1 Like
We used pathweaver in our 2022 code with pretty good success.
However, if you are new to auto programming I would most certainly recommend not using pathweaver. It’s a fairly complicated topic with a very specific process to get it running. I would recommend learning posititonal PID before trying to tackle pathweaver. Getting a mastery of PID is essential before doing pathplanning. PID in it’s own right is also a fairly complex topic (the basics are easy, but an intimate knowledge of the subject is a year-long project on average). To give an example, the guy on our team that decided to handle autonomous had multiple years of experience, and it took nearly the whole season to get the pathplanning to work.
You have to walk before you run, and no auto experience to pathplanning can be roughly equated to trying to run a 2 minute mile before learning how to walk.
1 Like
I’m planning to use the path planner seperate library.
Home · mjansen4857/pathplanner Wiki · GitHub then you will want to start here with the wiki. If you have specific questions feel free to dm me.
Are you following the WPIlib SwerveControllerCommand project? (found here) Because path planner works almost identically to that. instead its just PPSwerveControllerCommand and it takes a PathPlanner trajectory. If your having trouble using the actual PathPlanner tool I would look at the documentation in their github. If your confused by some of the WPI classes like SwerveDriveKinematics I would look in WPIs documentation and the example project that I linked.
1 Like
This topic was automatically closed 365 days after the last reply. New replies are no longer allowed.