Auto Pathweaver

[BrightLaw9]

Is your feature request related to a problem? Please describe. An consistent, reusable, and easy-to-use path creation and tracking interface would speed up autos a lot in comp season. The goal is to generate a trajectory (made up of different waypoints / different headings for robot) for robot to follow.

Describe the solution you'd like Investigate how to use Pathweaver for swerve. Ignore WPILib's notice for Pathweaver doesn't work for swerve.

You will have to:

• Figure out how to use WPILib's Pathweaver in make paths and waypoints

• Build paths for driving to (assuming looking out from alliance wall):

  1. Straight Ahead Intake Position
  2. Left Red Second to the Left Intake Position
  3. Right Red Second to the Right Intake Position
  4. Left Blue Second to the Left Intake Position
  5. Right Blue Second to the Right Intake Position
  6. For all the above, driving back to score (see picture)

• Add command actions (ex. go to intake position) into the path planning

• How to load the json file which the path is stored in into code

The end goal should be to have the trajectory from Pathweaver stored in the Trajectory object in code.

Describe alternatives you've considered A* search in autos? Drive(x,y, rot) linked together in sequential command group?

Additional context Docs can be found on WPILib WPILib Docs Pathweaver

• Add command actions (ex. go to intake position) into the path planning
• How to load the json file which the path is stored in into code

The end goal should be to have the trajectory from Pathweaver stored in the Trajectory object in code.

Describe alternatives you've considered A* search in autos? Drive(x,y, rot) linked together in sequential command group?

Additional context Docs can be found on WPILib WPILib Docs Pathweaver

[BrightLaw9]

Also, figure out how you can add command actions (ex. go to intake position) into the path planning

[MichGedd]

This is specifically for pre-built path planning and NOT for on the fly path generation. Take a look at this library for use with swerve and moving other parts of the robot during path planning: https://github.com/mjansen4857/pathplanner

[BrightLaw9]

Had this conversation with the mentors, and they suggested that in autos, a fixed path can be run everytime. The on-the-fly path generation would be useful when the beginning pose of a trajectory is variable