Update pathplanner example to kickoff library

CrossTheRoadElec · Jan 9, 2024 · 081cb11 · 081cb11
1 parent e7d40eb
commit 081cb11
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Showing 3 changed files with 4 additions and 5 deletions.
diff --git a/java/SwerveWithPathPlanner/src/main/java/frc/robot/CommandSwerveDrivetrain.java b/java/SwerveWithPathPlanner/src/main/java/frc/robot/CommandSwerveDrivetrain.java
@@ -62,6 +62,7 @@ private void configurePathPlanner() {
                                             TunerConstants.kSpeedAt12VoltsMps,
                                             driveBaseRadius,
                                             new ReplanningConfig()),
+            ()->false, // Change this if the path needs to be flipped on red vs blue
             this); // Subsystem for requirements
     }
 

diff --git a/java/SwerveWithPathPlanner/src/main/java/frc/robot/RobotContainer.java b/java/SwerveWithPathPlanner/src/main/java/frc/robot/RobotContainer.java
@@ -6,9 +6,7 @@
 
 import com.ctre.phoenix6.mechanisms.swerve.SwerveRequest;
 import com.ctre.phoenix6.mechanisms.swerve.SwerveModule.DriveRequestType;
-import com.ctre.phoenix6.mechanisms.swerve.SwerveModule.SteerRequestType;
 
-import edu.wpi.first.math.geometry.Pose2d;
 import edu.wpi.first.math.geometry.Rotation2d;
 import edu.wpi.first.wpilibj2.command.Command;
 import edu.wpi.first.wpilibj2.command.button.CommandXboxController;

diff --git a/java/SwerveWithPathPlanner/vendordeps/PathplannerLib.json b/java/SwerveWithPathPlanner/vendordeps/PathplannerLib.json
@@ -1,7 +1,7 @@
 {
     "fileName": "PathplannerLib.json",
     "name": "PathplannerLib",
-    "version": "2024.0.0-beta-6.2",
+    "version": "2024.1.2",
     "uuid": "1b42324f-17c6-4875-8e77-1c312bc8c786",
     "frcYear": "2024",
     "mavenUrls": [
@@ -12,15 +12,15 @@
         {
             "groupId": "com.pathplanner.lib",
             "artifactId": "PathplannerLib-java",
-            "version": "2024.0.0-beta-6.2"
+            "version": "2024.1.2"
         }
     ],
     "jniDependencies": [],
     "cppDependencies": [
         {
             "groupId": "com.pathplanner.lib",
             "artifactId": "PathplannerLib-cpp",
-            "version": "2024.0.0-beta-6.2",
+            "version": "2024.1.2",
             "libName": "PathplannerLib",
             "headerClassifier": "headers",
             "sharedLibrary": false,