Path Planning is the process of creating and following trajectories. These paths use the WPILib trajectory APIs for generation and a :ref:`Ramsete Controller <docs/software/advanced-controls/trajectories/ramsete:Ramsete Controller>` for following. This section highlights the process of characterizing your robot for system identification, trajectory following and usage of PathWeaver. Users may also want to read the :ref:`generic trajectory following documents <docs/software/advanced-controls/trajectories/index:Trajectory Generation and Following with WPILib>` for additional information about the API and non-commandbased usage.
Swerve support in path following has a couple of limitations that teams need to be aware of: - WPILib currently does not support swerve in simulation, please see this pull request. - SysID only supports tuning the swerve heading using a General Mechanism project and does not regularly support module velocity data. A workaround is to lock the module's heading into place. This can be done via blocking module rotation using something like a block of wood. - Pathweaver and Trajectory following currently do not incorporate independent heading. Path following using the WPILib trajectory framework on swerve will be the same as a DifferentialDrive robot.
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.. toctree:: :maxdepth: 2 system-identification/index trajectory-tutorial/index pathweaver/index