Build an Auto

Configure AutoBuilder

In PathPlannerLib, AutoBuilder is used to create full autonomous routines based on auto files created in the GUI app. In order for AutoBuilder to be able to build these auto routines, it must first be configured to control your robot.

The following examples will assume that your drive subsystem has the following methods:

getPose - Returns the current robot pose as a Pose2d
resetPose - Resets the robot's odometry to the given pose
getRobotRelativeSpeeds or getCurrentSpeeds - Returns the current robot-relative ChassisSpeeds. This can be calculated using one of WPILib's drive kinematics classes
driveRobotRelative or drive - Outputs commands to the robot's drive motors given robot-relative ChassisSpeeds. This can be converted to module states or wheel speeds using WPILib's drive kinematics classes.

Holonomic (Swerve)

public class DriveSubsystem extends SubsystemBase {
  public DriveSubsystem() {
    // All other subsystem initialization
    // ...
    
    // Load the RobotConfig from the GUI settings. You should probably
    // store this in your Constants file
    RobotConfig config;
    try{
      config = RobotConfig.fromGUISettings();
    } catch (Exception e) {
      // Handle exception as needed
      e.printStackTrace();
    }

    // Configure AutoBuilder last
    AutoBuilder.configure(
            this::getPose, // Robot pose supplier
            this::resetPose, // Method to reset odometry (will be called if your auto has a starting pose)
            this::getRobotRelativeSpeeds, // ChassisSpeeds supplier. MUST BE ROBOT RELATIVE
            (speeds, feedforwards) -> driveRobotRelative(speeds), // Method that will drive the robot given ROBOT RELATIVE ChassisSpeeds. Also optionally outputs individual module feedforwards
            new PPHolonomicDriveController( // PPHolonomicController is the built in path following controller for holonomic drive trains
                    new PIDConstants(5.0, 0.0, 0.0), // Translation PID constants
                    new PIDConstants(5.0, 0.0, 0.0) // Rotation PID constants
            ),
            config, // The robot configuration
            () -> {
              // Boolean supplier that controls when the path will be mirrored for the red alliance
              // This will flip the path being followed to the red side of the field.
              // THE ORIGIN WILL REMAIN ON THE BLUE SIDE

              var alliance = DriverStation.getAlliance();
              if (alliance.isPresent()) {
                return alliance.get() == DriverStation.Alliance.Red;
              }
              return false;
            },
            this // Reference to this subsystem to set requirements
    );
  }
}

#include <pathplanner/lib/auto/AutoBuilder.h>
#include <pathplanner/lib/config/RobotConfig.h>
#include <pathplanner/lib/controllers/PPHolonomicDriveController.h>
#include <frc/geometry/Pose2d.h>
#include <frc/kinematics/ChassisSpeeds.h>
#include <frc/DriverStation.h>

using namespace pathplanner;

SwerveSubsystem::SwerveSubsystem(){
    // Do all subsystem initialization here
    // ...
    
    // Load the RobotConfig from the GUI settings. You should probably
    // store this in your Constants file
    RobotConfig config = RobotConfig::fromGUISettings();

    // Configure the AutoBuilder last
    AutoBuilder::configure(
        [this](){ return getPose(); }, // Robot pose supplier
        [this](frc::Pose2d pose){ resetPose(pose); }, // Method to reset odometry (will be called if your auto has a starting pose)
        [this](){ return getRobotRelativeSpeeds(); }, // ChassisSpeeds supplier. MUST BE ROBOT RELATIVE
        [this](auto speeds, auto feedforwards){ driveRobotRelative(speeds); }, // Method that will drive the robot given ROBOT RELATIVE ChassisSpeeds. Also optionally outputs individual module feedforwards
        std::make_shared<PPHolonomicDriveController>( // PPHolonomicController is the built in path following controller for holonomic drive trains
            PIDConstants(5.0, 0.0, 0.0), // Translation PID constants
            PIDConstants(5.0, 0.0, 0.0) // Rotation PID constants
        ),
        config, // The robot configuration
        []() {
            // Boolean supplier that controls when the path will be mirrored for the red alliance
            // This will flip the path being followed to the red side of the field.
            // THE ORIGIN WILL REMAIN ON THE BLUE SIDE

            auto alliance = DriverStation::GetAlliance();
            if (alliance) {
                return alliance.value() == DriverStation::Alliance::kRed;
            }
            return false;
        },
        this // Reference to this subsystem to set requirements
    );
}

from pathplannerlib.auto import AutoBuilder
from pathplannerlib.controller import PPHolonomicDriveController
from pathplannerlib.config import RobotConfig, PIDConstants
from wpilib import DriverStation

class SwerveSubsystem(Subsystem):
    def __init__(self):
        # Do all subsystem initialization here
        # ...
        
        # Load the RobotConfig from the GUI settings. You should probably
        # store this in your Constants file
        config = RobotConfig.fromGUISettings()

        # Configure the AutoBuilder last
        AutoBuilder.configureHolonomic(
            self.getPose, # Robot pose supplier
            self.resetPose, # Method to reset odometry (will be called if your auto has a starting pose)
            self.getRobotRelativeSpeeds, # ChassisSpeeds supplier. MUST BE ROBOT RELATIVE
            lambda speeds, feedforwards: self.driveRobotRelative(speeds), # Method that will drive the robot given ROBOT RELATIVE ChassisSpeeds. Also outputs individual module feedforwards
            PPHolonomicDriveController( # PPHolonomicController is the built in path following controller for holonomic drive trains
                PIDConstants(5.0, 0.0, 0.0), # Translation PID constants
                PIDConstants(5.0, 0.0, 0.0) # Rotation PID constants
            ),
            config, # The robot configuration
            self.shouldFlipPath, # Supplier to control path flipping based on alliance color
            self # Reference to this subsystem to set requirements
        )
    
    def shouldFlipPath():
        # Boolean supplier that controls when the path will be mirrored for the red alliance
        # This will flip the path being followed to the red side of the field.
        # THE ORIGIN WILL REMAIN ON THE BLUE SIDE
        return DriverStation.getAlliance() == DriverStation.Alliance.kRed

LTV (Differential)

public class DriveSubsystem extends SubsystemBase {
  public DriveSubsystem() {
    // All other subsystem initialization
    // ...
    
    // Load the RobotConfig from the GUI settings. You should probably
    // store this in your Constants file
    RobotConfig config;
    try{
      config = RobotConfig.fromGUISettings();
    } catch (Exception e) {
      // Handle exception as needed
      e.printStackTrace();
    }

    // Configure AutoBuilder last
    AutoBuilder.configure(
            this::getPose, // Robot pose supplier
            this::resetPose, // Method to reset odometry (will be called if your auto has a starting pose)
            this::getRobotRelativeSpeeds, // ChassisSpeeds supplier. MUST BE ROBOT RELATIVE
            (speeds, feedforwards) -> driveRobotRelative(speeds), // Method that will drive the robot given ROBOT RELATIVE ChassisSpeeds. Also optionally outputs individual module feedforwards
            new PPLTVController(0.02), // PPLTVController is the built in path following controller for differential drive trains
            config, // The robot configuration
            () -> {
              // Boolean supplier that controls when the path will be mirrored for the red alliance
              // This will flip the path being followed to the red side of the field.
              // THE ORIGIN WILL REMAIN ON THE BLUE SIDE

              var alliance = DriverStation.getAlliance();
              if (alliance.isPresent()) {
                return alliance.get() == DriverStation.Alliance.Red;
              }
              return false;
            },
            this // Reference to this subsystem to set requirements
    );
  }
}

#include <pathplanner/lib/auto/AutoBuilder.h>
#include <pathplanner/lib/config/RobotConfig.h>
#include <pathplanner/lib/controllers/PPLTVController.h>
#include <frc/geometry/Pose2d.h>
#include <frc/kinematics/ChassisSpeeds.h>
#include <frc/DriverStation.h>

using namespace pathplanner;

DriveSubsystem::DriveSubsystem(){
    // Do all subsystem initialization here
    // ...
    
    // Load the RobotConfig from the GUI settings. You should probably
    // store this in your Constants file
    RobotConfig config = RobotConfig::fromGUISettings();

    // Configure the AutoBuilder last
    AutoBuilder::configure(
        [this](){ return getPose(); }, // Robot pose supplier
        [this](frc::Pose2d pose){ resetPose(pose); }, // Method to reset odometry (will be called if your auto has a starting pose)
        [this](){ return getRobotRelativeSpeeds(); }, // ChassisSpeeds supplier. MUST BE ROBOT RELATIVE
        [this](auto speeds, auto feedforwards){ driveRobotRelative(speeds); }, // Method that will drive the robot given ROBOT RELATIVE ChassisSpeeds. Also optionally outputs individual module feedforwards
        PPLTVController(0.02_s), // PPLTVController is the built in path following controller for differential drive trains
        config, // The robot configuration
        []() {
            // Boolean supplier that controls when the path will be mirrored for the red alliance
            // This will flip the path being followed to the red side of the field.
            // THE ORIGIN WILL REMAIN ON THE BLUE SIDE

            auto alliance = DriverStation::GetAlliance();
            if (alliance) {
                return alliance.value() == DriverStation::Alliance::kRed;
            }
            return false;
        },
        this // Reference to this subsystem to set requirements
    );
}

from pathplannerlib.auto import AutoBuilder
from pathplannerlib.controller import PPLTVController
from pathplannerlib.config import RobotConfig
from wpilib import DriverStation

class DriveSubsystem(Subsystem):
    def __init__(self):
        # Do all subsystem initialization here
        # ...
        
        # Load the RobotConfig from the GUI settings. You should probably
        # store this in your Constants file
        config = RobotConfig.fromGUISettings()

        # Configure the AutoBuilder last
        AutoBuilder.configureHolonomic(
            self.getPose, # Robot pose supplier
            self.resetPose, # Method to reset odometry (will be called if your auto has a starting pose)
            self.getRobotRelativeSpeeds, # ChassisSpeeds supplier. MUST BE ROBOT RELATIVE
            lambda speeds, feedforwards: self.driveRobotRelative(speeds), # Method that will drive the robot given ROBOT RELATIVE ChassisSpeeds. Also outputs individual module feedforwards
            PPLTVController(0.02), # PPLTVController is the built in path following controller for differential drive trains
            config, # The robot configuration
            self.shouldFlipPath, # Supplier to control path flipping based on alliance color
            self # Reference to this subsystem to set requirements
        )
    
    def shouldFlipPath():
        # Boolean supplier that controls when the path will be mirrored for the red alliance
        # This will flip the path being followed to the red side of the field.
        # THE ORIGIN WILL REMAIN ON THE BLUE SIDE
        return DriverStation.getAlliance() == DriverStation.Alliance.kRed

Load an Auto

After you have configured the AutoBuilder, creating an auto is as simple as constructing a PathPlannerAuto with the name of the auto you made in the GUI.

public class RobotContainer {
  // ...

  public Command getAutonomousCommand() {
    // This method loads the auto when it is called, however, it is recommended
    // to first load your paths/autos when code starts, then return the
    // pre-loaded auto/path
    return new PathPlannerAuto("Example Auto");
  }
}

#include <pathplanner/lib/commands/PathPlannerAuto.h>

using namespace pathplanner;

frc2::CommandPtr RobotContainer::getAutonomousCommand(){
    // This method loads the auto when it is called, however, it is recommended
    // to first load your paths/autos when code starts, then return the
    // pre-loaded auto/path
    return PathPlannerAuto("Example Auto").ToPtr();
}

from pathplannerlib.auto import PathPlannerAuto

class RobotContainer:
    def getAutonomousCommand():
        # This method loads the auto when it is called, however, it is recommended
        # to first load your paths/autos when code starts, then return the
        # pre-loaded auto/path
        return PathPlannerAuto('Example Auto')

Create a SendableChooser with all autos in project

After configuring the AutoBuilder, you have the option to build a SendableChooser that is automatically populated with every auto in the project.

public class RobotContainer {
  private final SendableChooser<Command> autoChooser;

  public RobotContainer() {
    // ...

    // Build an auto chooser. This will use Commands.none() as the default option.
    autoChooser = AutoBuilder.buildAutoChooser();

    // Another option that allows you to specify the default auto by its name
    // autoChooser = AutoBuilder.buildAutoChooser("My Default Auto");

    SmartDashboard.putData("Auto Chooser", autoChooser);
  }

  public Command getAutonomousCommand() {
    return autoChooser.getSelected();
  }
}

#include <pathplanner/lib/auto/AutoBuilder.h>
#include <frc/smartdashboard/SmartDashboard.h>
#include <frc2/command/CommandPtr.h>
#include <frc2/command/Command.h>
#include <memory>

using namespace pathplanner;

RobotContainer::RobotContainer() {
  // ...

  // Build an auto chooser. This will use frc2::cmd::None() as the default option.
  autoChooser = AutoBuilder::buildAutoChooser();

  // Another option that allows you to specify the default auto by its name
  // autoChooser = AutoBuilder::buildAutoChooser("My Default Auto");

  frc::SmartDashboard::PutData("Auto Chooser", &autoChooser);
}

frc2::Command* RobotContainer::getAutonomousCommand() {
  // Returns a frc2::Command* that is freed at program termination
  return autoChooser.GetSelected();
}

from pathplannerlib.auto import AutoBuilder

class RobotContainer:
    
    def __init__():

        # Build an auto chooser. This will use Commands.none() as the default option.
        self.autoChooser = AutoBuilder.buildAutoChooser()
        
        # Another option that allows you to specify the default auto by its name
        # self.autoChooser = AutoBuilder.buildAutoChooser("My Default Auto")
        
        SmartDashboard.putData("Auto Chooser", self.autoChooser)
    
    def getAutonomousCommand():
        return self.autoChooser.getSelected()

Create a SendableChooser with certain autos in project

You can use the buildAutoChooserWithOptionsModifier method to process the autos before they are shown on shuffle board

public class RobotContainer {
  private final SendableChooser<Command> autoChooser;

  public RobotContainer() {
    // ...

    // For convenience a programmer could change this when going to competition.
    boolean isCompetition = true;
    
    // Build an auto chooser. This will use Commands.none() as the default option.
    // As an example, this will only show autos that start with "comp" while at
    // competition as defined by the programmer
    autoChooser = AutoBuilder.buildAutoChooserWithOptionsModifier(
      (stream) -> isCompetition
        ? stream.filter(auto -> auto.getName().startsWith("comp")) 
        : stream
    );

    SmartDashboard.putData("Auto Chooser", autoChooser);
  }

  public Command getAutonomousCommand() {
    return autoChooser.getSelected();
  }
}

#include <pathplanner/lib/auto/AutoBuilder.h>
#include <frc/smartdashboard/SmartDashboard.h>
#include <frc2/command/CommandPtr.h>
#include <frc2/command/Command.h>
#include <memory>

using namespace pathplanner;

RobotContainer::RobotContainer() {
  // ...

  // For convenience a programmer could change this when going to competition.
  bool isCompetition = true;

  // Build an auto chooser. This will use frc2::cmd::None() as the default option.
  // As an example, this will only show autos that start with "comp" while at
  // competition as defined by the programmer
  autoChooser = AutoBuilder::buildAutoChooserFilter(
    [&isCompetition](const PathPlannerAuto& autoCommand)
    {
      return isCompetition ? autoCommand.GetName().starts_with("comp") : true;
    }
  );

  // Another option that allows you to specify the default auto by its name
  /*
  autoChooser = AutoBuilder::buildAutoChooserFilter(
    [&isCompetition](const PathPlannerAuto& autoCommand)
    {
      return isCompetition ? autoCommand.GetName().starts_with("comp") : true;
    },
    "autoDefault", // If filled it will choosen always, regardless of filter
  ); 
  */

  // Another option allows you to filter out current directories relative to deploy/pathplanner/auto directory
  // Allows only autos in directory deploy/pathplanner/autos/comp
  /*
  autoChooser = AutoBuilder::buildAutoChooserFilterPathFilterPath(
    [&isCompetition](const PathPlannerAuto&  autoCommand,
            std::filesystem::path autoPath)
    {
      return isCompetition ? autoPath.compare("comp") > 0 : true;
    }
  ); 
  */

  frc::SmartDashboard::PutData("Auto Chooser", &autoChooser);
}

frc2::Command* RobotContainer::getAutonomousCommand() {
  // Returns a frc2::Command* that is freed at program termination
  return autoChooser.GetSelected();
}

Last modified: 28 November 2024