I had a quick question. When i was looking at the example code for pathplanner I read about Automatic Pathfinding. I was wondering if i put a pose dose it flip the pose based on which side it is on.
I belive what you’re looking for is this. On the bottom of the code example there is a line about flipping.
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Curiously pathfindToPose does not flip but pathfindThenFollowPath does flip. Since you can’t guarantee the heading at the end of the pathfind I have found myself ending the paths a little before where I need to then using a short path to guarantee the proper rotation and get the path flipping.
I actually brought this up in my post
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Also this works with PathPlannerAuto too.
The pathfinding is inherently blue alliance origin only, so the only thing that should ever be flipped would be a pre-made GUI path that was made on the blue side when running on red. Also, it doesn’t really make sense to handle flipping for poses that are provided at run-time, since these could be “correct” already. For instance, we create pathfindToPose commands with either a red side pose or a blue side pose depending on the current alliance. If these were flipped it would break things. If you want to use blue-side only poses, you’ll have to flip them manually beforehand if on red. But, I’d suggest having separate red/blue poses anyways, since it just makes more sense/is more readable and makes adjusting for differences on the red/blue side easier.
This note was about the direction of travel, mainly for diff drive robots. You can’t control the direction it arrives at a position from, but you can give it a rotation that it will target. But, just like with normal paths, if there is not enough distance/time to complete the rotation it won’t be completed. So, adding a short path at the end won’t necessarily solve that. The only way to actually gurantee the correct rotation with any length pathfinding path is to run a pid controller to reach the desired rotation after the path ends.
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are the x, y, and roation on the pathplanner GUI the same as pose 2d parameters.
