PathPlanner v2025.0.0 Beta 5

This beta release focuses on refactoring the robot config/settings to allow for arbitrary swerve module positions, as well as the ability to add custom features to the robot preview to represent something like an intake. There have also been a few bug fixes.

A couple things to note with this update:

• PPLib beta 5 requires WPILib beta 2
• You will need to reconfigure your robot's module positions in the GUI. They will not be automatically translated from the previously set trackwidth/wheelbase
• If you use the RobotConfig.fromGUISettings() method to load a RobotConfig in code, you MUST regenerate your settings file from the GUI or the method will fail to load the settings. You can do this by changing any setting.
• If not using the above method, you will need to change the creation of your RobotConfig to use individual module positions, which must be in FL, FR, BL, BR order.

Individual Module Positions

The GUI settings menu has been reworked to allow for the configuration of each individual module position, instead of just trackwidth and wheelbase. This allows PathPlanner to properly generate trajectories for robots without rectangular swerve module placement. To help visualize module positions, a robot preview is always shown in the robot config settings.

PPLib has also been updated to utilize individual module positions in RobotConfig.

Robot Features

The ability to add custom shapes to the robot preview to represent different robot features has also been added. This can be used to represent things like intakes to make path creation a bit easier, or can be used to draw pretty much anything on the robot preview. Currently, features can be added as a rectangle, circle, or line. The robot's bumpers can now also be offset from the center of the robot's drivetrain.

Full Changelog

• Remove app store badge from readme/docs by @mjansen4857 in #901
• Update to flutter 3.24.4 by @mjansen4857 in #903
• Refactor robot config to use individual module positions by @mjansen4857 in #904
• Ability to add custom features to robot preview by @mjansen4857 in #907
• Fix a few issues by @mjansen4857 in #908
• mac podfile changes by @mjansen4857 in #909
• Fix python path flipping for Choreo paths by @mjansen4857 in #914
• Fix python trajectory generation within commands by @mjansen4857 in #915
• Add Empty Translation Checks by @PickleFace5 in #911
• Replace usage of deprecated ChassisSpeeds methods by @mjansen4857 in #916

New Contributors

• @PickleFace5 made their first contribution in #911

v2025.0.0-beta-4...v2025.0.0-beta-5