Pathplanner Starting Point Issues

Technical Programming
1

Hello Everyone!

Our team has recently been trying to setup pathplanner, and get some autonomous paths working. One issue we encountered was that the robot always started at the origin (bottom left corner of the field) no matter what we set the starting point of our path to. When we enable autonomous, the robot would travel from the origin to the starting point of our path, and then follow the path. We were wondering what the problem was, and how to fix it.

Here is our code : GitHub - redlandsrobotics/2024Crescendo

Thanks!

2

Your reset odometry function in SwerveSubsystem.java does not actually use the pose that is passed in, it is constructing a new pose and using its default value which is the bottom left corner of the field.

1 Like
3

We just tested it out, and it works. Thanks for your help!