Override Target Rotation

There are some cases where you may wish to override the target rotation while path following, such as targeting a game piece. This can be accomplished by providing a function to the PPHolonomicDriveController class that will supply an optional rotation override. This is a static method, so it will apply to all path following commands.

public SwerveSubsystem(){
    // ... other initialization

    // Set the method that will be used to get rotation overrides
    PPHolonomicDriveController.setRotationTargetOverride(this::getRotationTargetOverride);
}

public Optional<Rotation2d> getRotationTargetOverride(){
    // Some condition that should decide if we want to override rotation
    if(Limelight.hasGamePieceTarget()) {
        // Return an optional containing the rotation override (this should be a field relative rotation)
        return Optional.of(Limelight.getRobotToGamePieceRotation());
    } else {
        // return an empty optional when we don't want to override the path's rotation
        return Optional.empty();
    }
}

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

using namespace pathplanner;

SwerveSubsystem::SwerveSubsystem(){
    // ... other initialization

    // Set the method that will be used to get rotation overrides
    PPHolonomicDriveController::setRotationTargetOverride([this](){ return getRotationTargetOverride(); });
}

std::optional<frc::Rotation2d> SwerveSubsystem::getRotationTargetOverride(){
    // Some condition that should decide if we want to override rotation
    if(Limelight::hasGamePieceTarget()) {
        // Return the rotation override (this should be a field relative rotation)
        return Limelight::getRobotToGamePieceRotation();
    } else {
        // return an empty optional when we don't want to override the path's rotation
        return std::nullopt;
    }
}

from pathplannerlib.controller import PPHolonomicDriveController
from wpimath.geometry import Rotation2d

class SwerveSubsystem(Subsystem):
    def __init__(self):
        # ... other initialization

        # Set the method that will be used to get rotation overrides
        PPHolonomicDriveController.setRotationTargetOverride(self.getRotationTargetOverride);

    def getRotationTargetOverride(self) -> Rotation2d:
        # Some condition that should decide if we want to override rotation
        if Limelight.hasGamePieceTarget():
            # Return the rotation override (this should be a field relative rotation)
            return Limelight.getRobotToGamePieceRotation()
        else:
            # return None when we don't want to override the path's rotation
            return None

Last modified: 15 September 2024