Override Feedback

There are some cases where you may wish to override the controller feedback while path following, such as targeting a game piece. This can be accomplished by providing a function to the PPHolonomicDriveController class that will supply the desired feedback for X position, Y position, or rotation. This is a static method, so it will apply to all path following commands.

// Override the X feedback
PPHolonomicDriveController.overrideXFeedback(() -> {
    // Calculate feedback from your custom PID controller
    return 0.0;
});
// Clear the X feedback override
PPHolonomicDriveController.clearXFeedbackOverride();

// Override the Y feedback
PPHolonomicDriveController.overrideYFeedback(() -> {
    // Calculate feedback from your custom PID controller
    return 0.0;
});
// Clear the Y feedback override
PPHolonomicDriveController.clearYFeedbackOverride();

// Override the rotation feedback
PPHolonomicDriveController.overrideRotationFeedback(() -> {
    // Calculate feedback from your custom PID controller
    return 0.0;
});
// Clear the rotation feedback override
PPHolonomicDriveController.clearRotationFeedbackOverride();

// Clear all feedback overrides
PPHolonomicDriveController.clearFeedbackOverrides();

#include <pathplanner/lib/controllers/PPHolonomicDriveController.h>

using namespace pathplanner;

// Override the X feedback
PPHolonomicDriveController::overrideXFeedback([]() {
    // Calculate feedback from your custom PID controller
    return 0_mps;
});
// Clear the X feedback override
PPHolonomicDriveController::clearXFeedbackOverride();

// Override the Y feedback
PPHolonomicDriveController::overrideYFeedback([]() {
    // Calculate feedback from your custom PID controller
    return 0_mps;
});
// Clear the Y feedback override
PPHolonomicDriveController::clearYFeedbackOverride();

// Override the rotation feedback
PPHolonomicDriveController::overrideRotationFeedback([]() {
    // Calculate feedback from your custom PID controller
    return 0_rad_per_sec;
});
// Clear the rotation feedback override
PPHolonomicDriveController::clearRotationFeedbackOverride();

// Clear all feedback overrides
PPHolonomicDriveController::clearFeedbackOverrides();

from pathplannerlib.controller import PPHolonomicDriveController

# Override the X feedback
PPHolonomicDriveController.overrideXFeedback(lambda: 0.0) # Calculate feedback from your custom PID controller
# Clear the X feedback override
PPHolonomicDriveController.clearXFeedbackOverride()

# Override the Y feedback
PPHolonomicDriveController.overrideYFeedback(lambda: 0.0) # Calculate feedback from your custom PID controller
# Clear the Y feedback override
PPHolonomicDriveController.clearYFeedbackOverride()

# Override the rotation feedback
PPHolonomicDriveController.overrideRotationFeedback(lambda: 0.0) # Calculate feedback from your custom PID controller
# Clear the rotation feedback override
PPHolonomicDriveController.clearRotationFeedbackOverride()

# Clear all feedback overrides
PPHolonomicDriveController.clearFeedbackOverrides()

Last modified: 05 January 2025