Using PathPlanner with generated code from Tuner X swerve builder

Technical Programming
1

I used the Tuner X Swerve generator to create the code that drives the swerve drivetrain. I am trying to use pathplanner to create autos but I can´t find a way to incorporate the Autobuilder in this new code. The code does not use command - base nor the Swerve subsystem is present. Is there an easy way to create paths for auto in this version. Much appreciated. This is my code Crescendo7403

2

I get an HTTP 404 not found error when looking at your repo. Are you sure the link is correct and the code is public?

3

Are you sure it was generated by Tuner X? That doesn’t sound right.

4

I’d look at regenerating your project. It should be a command-based program

Then take a look at the CTRE PathplannerLib example here:

You’ll have to add a few things but it’s not much

5

I am so, sorry. The Repository is now Public. I really appreciate it.

CODE

6

I had no idea CTRE had an example using PathPlanner.

This is how we did it. The only difference being we added some extra functions where they did some things inline, and then they added a configurePathplanner function where we just added the AutoBuilder code directly into the constructor. We should probably do it with a configurePathplanner function too to cover both constructors.

7

Thank you very much. We got it working with the examples and your guidance. We appreciate this help.

8

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