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Updated TrajectoryUtils
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@jonathandao0
jonathandao0 committed Jan 20, 2025
1 parent fb519a4 commit 7eb1303
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</versions>
<lastUpdated>20250120024059</lastUpdated>
<lastUpdated>20250120070014</lastUpdated>
</versioning>
</metadata>
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35 changes: 9 additions & 26 deletions src/main/java/org/team4201/codex/utils/TrajectoryUtils.java
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Expand Up @@ -45,13 +45,12 @@ public TrajectoryUtils(SwerveSubsystem swerveDrive, RobotConfig robotConfig, PID
* Generate a PathPlanner Command to follow a named PathPlanner trajectory file.
*
* @param pathName The name of the PathPlanner Trajectory file to reference.
* @param maxSpeed The robot's max speed to obey (Overrides the setting in the PathPlanner trajectory file)
*
* @return Command
*/
public Command generatePPHolonomicCommand(String pathName, double maxSpeed) {
public Command generatePPHolonomicCommand(String pathName) {
try {
return generatePPHolonomicCommand(PathPlannerPath.fromPathFile(pathName), maxSpeed, false);
return generatePPHolonomicCommand(PathPlannerPath.fromPathFile(pathName), m_robotConfig, false);
} catch (Exception e) {
DriverStation.reportError("Could not load PathPlanner Path '" + pathName + "':" + e.getMessage(), e.getStackTrace());
return new WaitCommand(0);
Expand All @@ -62,14 +61,13 @@ public Command generatePPHolonomicCommand(String pathName, double maxSpeed) {
* Generate a PathPlanner Command to follow a named PathPlanner trajectory file.
*
* @param pathName The name of the PathPlanner Trajectory file to reference.
* @param maxSpeed The robot's max speed to obey (Overrides the setting in the PathPlanner trajectory file)
* @param manualFlip Option to manually flip the trajectory instead of using the robot's current {@link DriverStation.Alliance} color
*
* @return Command
*/
public Command generatePPHolonomicCommand(String pathName, double maxSpeed, boolean manualFlip) {
public Command generatePPHolonomicCommand(String pathName, boolean manualFlip) {
try {
return generatePPHolonomicCommand(PathPlannerPath.fromPathFile(pathName), maxSpeed, manualFlip);
return generatePPHolonomicCommand(PathPlannerPath.fromPathFile(pathName), m_robotConfig, manualFlip);
} catch (Exception e) {
DriverStation.reportError("Could not load PathPlanner Path '" + pathName + "':" + e.getMessage(), e.getStackTrace());
return new WaitCommand(0);
Expand All @@ -80,43 +78,28 @@ public Command generatePPHolonomicCommand(String pathName, double maxSpeed, bool
* Generate a PathPlanner Command to follow a named PathPlanner trajectory file.
*
* @param path The {@link PathPlannerPath} to follow.
* @param maxSpeed The robot's max speed to obey (Overrides the setting in the PathPlanner trajectory file)
* @param robotConfig The {@link RobotConfig} to use.
*
* @return Command
*/
public Command generatePPHolonomicCommand(PathPlannerPath path, double maxSpeed) {
public Command generatePPHolonomicCommand(PathPlannerPath path, RobotConfig robotConfig) {

return generatePPHolonomicCommand(path, maxSpeed, false);
return generatePPHolonomicCommand(path, robotConfig, false);
}

/**
* Generate a PathPlanner Command to follow a named PathPlanner trajectory file.
*
* @param path The {@link PathPlannerPath} to follow.
* @param maxSpeed The robot's max speed to obey (Overrides the setting in the PathPlanner trajectory file)
* @param robotConfig The {@link RobotConfig} to use
* @param flipPath Option to flip the trajectory around the field's center.
*
* @return Command
*/
public Command generatePPHolonomicCommand(
PathPlannerPath path,
double maxSpeed,
RobotConfig robotConfig,
boolean flipPath) {

RobotConfig robotConfig = m_robotConfig;
if (maxSpeed != 0) {
ModuleConfig moduleConfig =
new ModuleConfig(m_robotConfig.moduleConfig.wheelRadiusMeters,
maxSpeed,
m_robotConfig.moduleConfig.wheelCOF,
m_robotConfig.moduleConfig.driveMotor,
m_robotConfig.moduleConfig.driveCurrentLimit,
m_robotConfig.moduleConfig.
driveCurrentLimit,
1);
robotConfig = new RobotConfig(m_robotConfig.massKG, m_robotConfig.MOI, moduleConfig, m_robotConfig.moduleLocations);
}

return new FollowPathCommand(
path,
() -> m_swerveDrive.getState().Pose,
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