- FRC Game Manual
- FRC Game Q&A

# Path Planning

Path Planning is the process of creating and following trajectories. These paths use the WPILib trajectory APIs for generation and a LTV Unicycle Controller for following. This section highlights the process of characterizing your robot for system identification, trajectory following, and usage of PathWeaver. Users may also want to read the generic trajectory following documents for additional information about the API and non-commandbased usage.

## Notice on Swerve Support

Swerve support in path following has a couple of limitations that teams need to be aware of:

- WPILib currently does not support swerve in simulation, please see this pull request.

- Pathweaver and Trajectory following currently do not incorporate independent heading. Path following using the WPILib trajectory framework on swerve will be the same as a DifferentialDrive robot. Both Choreo and PathPlanner have swerve support.

We are sorry for the inconvenience.

- Trajectory Tutorial
  - Trajectory Tutorial Overview
  - Step 1: Characterizing Your Robot Drive
  - Step 2: Entering the Calculated Constants
  - Step 3: Creating a Drive Subsystem
  - Step 4: Creating and Following a Trajectory
- PathWeaver
  - Introduction to PathWeaver
  - Creating a Pathweaver Project
  - Visualizing PathWeaver Trajectories
  - Creating Autonomous Routines
  - Importing a PathWeaver JSON
  - Adding field images to PathWeaver
- Choreo