# Importing a PathWeaver JSON

The TrajectoryUtil class can be used to import a PathWeaver JSON into robot code to follow it. This article will go over importing the trajectory. Please visit the end-to-end trajectory tutorial for more information on following the trajectory.

The fromPathweaverJson (Java) / FromPathweaverJson (C++) static methods in TrajectoryUtil can be used to create a trajectory from a JSON file stored on the roboRIO file system.

Importante

To be compatible with the Field2d view in the simulator GUI, the coordinates for the exported JSON have changed. Previously (before 2021), the range of the y-coordinate was from -27 feet to 0 feet whereas now, the range of the y-coordinate is from 0 feet to 27 feet (with 0 being at the bottom of the screen and 27 feet being at the top). This should not affect teams who are correctly resetting their odometry to the starting pose of the trajectory before path following.

Nota

PathWeaver places JSON files in src/main/deploy/paths which will automatically be placed on the roboRIO file system in /home/lvuser/deploy/paths and can be accessed using getDeployDirectory as shown below.

String trajectoryJSON = "paths/YourPath.wpilib.json";
Trajectory trajectory = new Trajectory();

@Override
public void robotInit() {
try {
Path trajectoryPath = Filesystem.getDeployDirectory().toPath().resolve(trajectoryJSON);
trajectory = TrajectoryUtil.fromPathweaverJson(trajectoryPath);
} catch (IOException ex) {
DriverStation.reportError("Unable to open trajectory: " + trajectoryJSON, ex.getStackTrace());
}
}


In the examples above, YourPath should be replaced with the name of your path.

Aviso

Loading a PathWeaver JSON from file in Java can take more than one loop iteration so it is highly recommended that the robot load these paths on startup.