PathPlanner

Create autonomous paths visually.

What Is PathPlanner?

PathPlanner is a tool for designing autonomous robot paths. You draw paths on a field image and set speed/acceleration constraints.

Installation

Download from pathplanner.io. Available for Windows, macOS, and Linux.

Creating Paths

1. Open PathPlanner
2. Set the field to the current game
3. Click to add waypoints (points the robot passes through)
4. Set constraints (max speed, max acceleration)
5. Add events to trigger commands at specific points

Key Concepts

Concept	Description
Waypoint	A point the robot path passes through
Constraint	Max speed and acceleration for a path segment
Event	Triggers a command at a specific point on the path
Holonomic	Uses swerve's ability to rotate independently while moving
Choreo	Alternative path planner (also supported by WPILib)

Integration with XBot

XBot includes PathPlannerLib as a vendor dependency:

// build.gradle
maven { url "https://3015rangerrobotics.github.io/pathplannerlib/repo"}

PathPlanner is configured in the robot initialization:

// In Robot.java
getInjectorComponent().configurePathPlannerLib();

Workflow

1. Design paths in PathPlanner GUI
2. Export paths as JSON files
3. Place JSON files in src/main/deploy/pathplanner/
4. Load paths in robot code:

PathPlannerAuto auto = new PathPlannerAuto("MyAutoPath");

Tips

• Keep paths simple - fewer waypoints = smoother paths
• Test in simulation before deploying to robot
• Use events to trigger mechanisms (e.g., raise elevator at a certain point)
• Save multiple path files for different autonomous routines