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mjansen4857 / pathplanner

A simple yet powerful path planning tool for FRC robots
https://pathplanner.dev
MIT License
398 stars 125 forks source link

Added buildAutoChooser to C++ lib #670

Closed ThePhoenixFox closed 7 months ago

ThePhoenixFox commented 7 months ago

Added a equivalent version of buildAutoChooser for cpp from java. Using the std::filesystem, we can inspect the files on the drive. Since SendableChooser doesn't allow for rvalue storage, we need to store the commands ourselves so the user will not get a nullptr when trying to access a command* from GetSelected().

mjansen4857 commented 7 months ago

I'd recommend running builds locally to help find any issues a bit easier.

./gradlew build

You can also fix formatting issues with ./gradlew spotlessApply

ThePhoenixFox commented 7 months ago

Sorry, this is my first time doing this. When I tried to run gradlew on my device, I got errors saying that the settings couldn't be found.

mjansen4857 commented 7 months ago

No worries.

I usually have pretty good luck with IntelliJ so you might want to give that a try. It has built in gradle support that usually takes care of setting up everything without any issues.

WPILib VSCode also works. The "Build robot code" option should do the same thing. Does that work for you? You have to also make sure you have the pathplannerlib folder open and not the root pathplanner repo folder or it won't work.

ThePhoenixFox commented 7 months ago

There are two versions of getAutonomousCommand() in the Writerside wiki. The first one is the easy readable one while the second one creates a frc2::CommandPtr since that is what most example programs use for their default return type. https://github.com/mjansen4857/pathplanner/blob/da4d22c8b1edd5ede5ae7ba3d6afb62f8c20eec7/Writerside/topics/pplib-Build-an-Auto.md?plain=1#L506-L514