Config

pathplannerlib Index / Pathplannerlib / Config

Auto-generated documentation for pathplannerlib.config module.

HolonomicPathFollowerConfig

Show source in config.py:39

Configuration for the holonomic path following commands

Arguments

• translationConstants PIDConstants - PIDConstants used for creating the translation PID controllers
• rotationConstants PIDConstants - PIDConstants used for creating the rotation PID controller
• maxModuleSpeed float - Max speed of an individual drive module in meters/sec
• driveBaseRadius float - The radius of the drive base in meters. This is the distance from the center of the robot to the furthest module.
• replanningConfig ReplanningConfig - Path replanning configuration
• period float - Control loop period in seconds (Default = 0.02)

Signature

class HolonomicPathFollowerConfig: ...

PIDConstants

Show source in config.py:5

PID constants used to create PID controllers

Arguments

• kP float - P
• kI float - I
• kD float - D
• iZone float - Integral range

Signature

class PIDConstants: ...

ReplanningConfig

Show source in config.py:22

Configuration for path replanning

Arguments

• enableInitialReplanning bool - Should the path be replanned at the start of path following if the robot is not already at the starting point?
• enableDynamicReplanning bool - Should the path be replanned if the error grows too large or if a large error spike happens while following the path?
• dynamicReplanningTotalErrorThreshold float - The total error threshold, in meters, that will cause the path to be replanned
• dynamicReplanningErrorSpikeThreshold float - The error spike threshold, in meters, that will cause the path to be replanned

Signature

class ReplanningConfig: ...