PathPlanner

MilkMan · November 22, 2023, 6:36am

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

ngreen · November 22, 2023, 6:42am

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.

github.com

frc1108/Claw2023Beta/blob/b04e38713249211ce44a13ffed877a285a04a21f/src/main/java/frc/robot/subsystems/DriveSubsystem.java#L201-L209


      
          public void driveRobotRelative(ChassisSpeeds speeds){
            this.drive(speeds.vxMetersPerSecond,speeds.vyMetersPerSecond,speeds.omegaRadiansPerSecond,false,false);
          }
          
          public ChassisSpeeds getRobotRelativeSpeeds(){
            return DriveConstants.kDriveKinematics.toChassisSpeeds(m_frontLeft.getState(),
                                                                   m_frontRight.getState(),
                                                                   m_rearLeft.getState(),
                                                                   m_rearRight.getState());

MilkMan · November 22, 2023, 6:52am

This method would be within the swerve subsystem, correct?

system · November 21, 2024, 6:53am

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