My team is trying to use the Swerve4Controller command (what’s with the numbers? I assume it’s 4-wheel swerve, but I’m not sure) to generate spline trajectories. However, when I sim the code, the robot does the wrong things. We haven’t tested it on the physical robot in many months (and plenty has changed and been fixed since we last did) but when we did test it, the robot behaved erratically.
I’ve had success interpolating paths in Python for swerve drivetrains. I then pass the resulting path points to the PathPlannerPath.fromPathPoints method to get a PathPlanner path that I can get a driveable trajectory command from.
Personally, I’ve developed my own pathfinding algorithm, and I’m only using the bare minimum from PathPlannerLib to make that functionality work. This functionality is for automating some (or a lot) of the driving during teleop.
However for regular autonomous routines, I plan on using PathPlanner, it’s GUI and API.