Path Groups

Using AutoBuilder and PathPlannerAuto is the preferred way to utilize autos created in PathPlanner. See Build an Auto. However, you can still use autos to mimic the path group functionality available in previous PathPlanner versions.

Furthermore, the starting pose can be retrieved from auto files to reset the robot's odometry manually.

// Use the PathPlannerAuto class to get a path group from an auto
List<PathPlannerPath> pathGroup = PathPlannerAuto.getPathGroupFromAutoFile("Example Auto");

// You can also get the starting pose from the auto. Only call this if the auto actually has a starting pose.
Pose2d startingPose = PathPlannerAuto.getStartingPoseFromAutoFile("Example Auto");

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

using namespace pathplanner;

// Use the PathPlannerAuto class to get a path group from an auto
auto pathGroup = PathPlannerAuto::getPathGroupFromAutoFile("Example Auto");

// You can also get the starting pose from the auto. Only call this if the auto actually has a starting pose.
frc::Pose2d startingPose = PathPlannerAuto::getStartingPoseFromAutoFile("Example Auto");

from pathplannerlib.auto import PathPlannerAuto

# Use the PathPlannerAuto class to get a path group from an auto
pathGroup = PathPlannerAuto.getPathGroupFromAutoFile('Example Auto');

# You can also get the starting pose from the auto. Only call this if the auto actually has a starting pose.
startingPose = PathPlannerAuto.getStartingPoseFromAutoFile('Example Auto');

Last modified: 15 September 2024