Swerve PathPlanner Auto - Modules Spin at End of Path

[Patriot_Programming]

@mjansen4857 Our team is using PathPlanner this year to make autonomous paths for our swerve drive robot. Our robot can successfully complete a path, but when finished it decides to spin the swerve module angles quickly without stopping.

Is there any way to detect when a PathPlanner auto finishes, or to have this not happen when the auto is complete?

[Emerson1706]

try adding something like this to your event map and set it after the end of your path

events.put("StopDrive", new InstantCommand(()->m_drive.stop()));

For us the .stop() function of our drivetrain just sets outputs to 0.