Path Planning is the process of creating and following trajectories. These paths use the WPILib trajectory APIs for generation and a Ramsete 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.
SysID only supports tuning the swerve heading using a General Mechanism project and does not regularly support module velocity data. A workaround is to lock the module’s heading into place. This can be done via blocking module rotation using something like a block of wood.
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.
We are sorry for the inconvenience.
- System Identification
- Trajectory Tutorial