Hey, my team used path planner for the first time this year and it worked really well. Now with the 2024 update we have some questions.
1- I noted that the SimpleMotorFeedforward and its constants (from the robot characterization tool) as well as the PIDController (for a Ramsete robot) are not used anymore and it was an important part of the trajectory. What’s being used to replace those classes and the robot’s constants they used? Isn’t that gonna disturb the trajectory accuracy?
2- Is it possible to alter the navgrid.json of the project dynamically? Like in the middle of a match the robot sees a robot in front of him with computer vision and want to add it like an obstacle on the navgrid.
3- We are having a problem with the code and the robot doesn’t move, I think that it has something to do with the drivetrain methods to get chassi speeds and drive the robot with the chassis speeds received from the trajectory command. What’s the right way to send those chassis speeds to the motors? (With the previous version of path planner lib we had a setVolts method that was used by the ramsete command).
Probably best to ask your questions in the PathPlanner 2024 thread:
Thanks for the tip, I’ll do that
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