FRC Paradigm Shift #1259
Documentation for the 2021 Robot
README
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Swerve 2021

Paradigm Shift #1259

Templates for Falcon/NEO or double NEO swerve drive trains. Falcon/NEO is on main, double NEO is on branch NEO

Doxygen documentation for main branch using Travis can be found here.

Running Paths

Team 1259 is currently using Team 3015's PathPlanner software to generate swerve paths. PathPlanner generates a C++ array which is converted into an frc::Trajectory, an object that carries desired states via timestamps for our Auto runs.

Setup

  • Download PathPlanner latest release (2021 uses v1.6) executable for Windows pathplanner-win.exe from here and install the .exe
  • Read through the **Path README** (Copied from PathPlanner v1.6)
  • Get example swerve paths for the 2021 robot here

    Config

  • Open up PathPlanner
  • In the top left settings menu, set the following:
Name Value
Team Number 1259
RoboRIO Path Location (Don't change)
Units Metric (will be in meters)
Game Year Your year
Max Velocity Robot dependent - calculate
Max Acceleration Robot dependent - calculate
Wheelbase Width Robot dependent - calculate
Robot Length Robot dependent - calculate
Time Step 0.02
Drive Train Holonomic


  • In the bottom left menu, click Generate Path (ctrl+G) to create the C++ array. Set the following:
Name Value
Output Type C++ array
Path Name Name of autonomous path
Output Format t,v,a,X,Y,hh
Reversed Output false (Off)
Split Path false (Off)


  • You should now be able to generate example paths from 2021 or your own paths!