more pathplanner updates

vikings204 · Feb 6, 2024 · 53cee99 · 53cee99
1 parent 3a12ed9
commit 53cee99
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Showing 2 changed files with 13 additions and 2 deletions.
diff --git a/src/main/java/frc/robot/RobotContainer.java b/src/main/java/frc/robot/RobotContainer.java
@@ -3,6 +3,7 @@
 import edu.wpi.first.wpilibj2.command.Command;
 import edu.wpi.first.wpilibj2.command.RunCommand;
 import edu.wpi.first.wpilibj2.command.button.JoystickButton;
+import frc.robot.Robot.ControlMode;
 import frc.robot.commands.TeleopSwerve;
 import frc.robot.subsystems.*;
 import frc.robot.util.*;
@@ -89,8 +90,14 @@ private void configureButtonBindings() {
             new RunCommand(() -> ShooterSubsystem.ampShot(true), ShooterSubsystem));    
 
     }
+        public Command getAutonomousCommand() {
+        // Load the path you want to follow using its name in the GUI
+        PathPlannerPath path = PathPlannerPath.fromPathFile("Path 1");
 
-    public Command getAutonomousCommand() {
+        // Create a path following command using AutoBuilder. This will also trigger event markers.
+        return AutoBuilder.followPathWithEvents(path);}
+
+    /*public Command getAutonomousCommand() {
         return AutonomousManager.getCommand();
-    }
+    }*/
 }
diff --git a/src/main/java/frc/robot/subsystems/SwerveSubsystem.java b/src/main/java/frc/robot/subsystems/SwerveSubsystem.java
@@ -15,6 +15,10 @@
 import com.ctre.phoenix6.hardware.Pigeon2;
 import com.ctre.phoenix6.configs.Pigeon2Configuration;
 
+import com.pathplanner.lib.auto.AutoBuilder;
+import com.pathplanner.lib.util.PathPlannerLogging;
+
+
 public class SwerveSubsystem extends SubsystemBase {
     public Pigeon2 gyro = new Pigeon2(Constants.Swerve.PIGEON2_ID, "rio");
     private SwerveDriveOdometry swerveOdometry; // Odometry class helps track where the robot is relative to where it started