PathPlanner

Hello, I am trying to use PathPlanner for autonomous but I am running into these errors:
“The type Swerve does not define getRobotRelativeSpeeds() that is applicable here”, " The type Swerve does not define drive(ChassisSpeeds) that is applicable here".

My code is based off of BaseFalconSwerve: GitHub - ManOfAgua/SwerveUpdated

With the changes to the PathPlanner autobuilder, you’ll need to provide methods with ChassisSpeed. Here is what I used, but it may be slightly different drive method for the BaseFalconSwerve.

This method would be within the swerve subsystem, correct?

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