PathPlanner follows path incorrectly

[nicbamb12]

I am using PathPlanner with a Swerve drive. I have a simple path set up here that moves the robot 5ft (1.4m) across the x-axis, with no y-axis movement.

I use a Command method to find the path from its file in the project files and then run it. However, instead of a straight line, the robot instead runs this path shown by the Field widget in Shuffleboard below:

Here is our code for reference. We use java (feat-pathPlanner branch):

GitHub - team-5438/2024-Swerve-Bot at feat-pathPlanner

PID values are set to 0 in Constants for testing purposes, although I doubt that PID would be responsible for an offshoot like this. What could be causing this to happen?

[gdefender]

It looks like it’s not setting your starting pose, and then it’s replanning the path based on your position at (0, 0). I know PathPlanner can do this for you when you run a full auto, but I’m not sure if you have to do it yourself when you run a path alone (I’m guess you do.)

Try something like this:

public Command followSamplePath(String pathName)
{
    PathPlannerPath path = PathPlannerPath.fromPathFile(pathName);    
    return Commands.runOnce(() -> s_Swerve.resetOdometry(path.getPreviewStartingHolonomicPose()))
            .andThen(AutoBuilder.followPath(path));
}