test path planner

src/main/deploy/pathplanner/autos/New Auto.auto

@@ -0,0 +1,19 @@
+{
+  "version": "2025.0",
+  "command": {
+    "type": "sequential",
+    "data": {
+      "commands": [
+        {
+          "type": "path",
+          "data": {
+            "pathName": "Example Path"
+          }
+        }
+      ]
+    }
+  },
+  "resetOdom": true,
+  "folder": null,
+  "choreoAuto": false
+}

src/main/deploy/pathplanner/paths/Example Path.path

@@ -0,0 +1,54 @@
+{
+  "version": "2025.0",
+  "waypoints": [
+    {
+      "anchor": {
+        "x": 0.0,
+        "y": 0.0
+      },
+      "prevControl": null,
+      "nextControl": {
+        "x": 0.25,
+        "y": 0.0
+      },
+      "isLocked": false,
+      "linkedName": null
+    },
+    {
+      "anchor": {
+        "x": 2.0,
+        "y": 0.0
+      },
+      "prevControl": {
+        "x": 1.75,
+        "y": 0.0
+      },
+      "nextControl": null,
+      "isLocked": false,
+      "linkedName": null
+    }
+  ],
+  "rotationTargets": [],
+  "constraintZones": [],
+  "pointTowardsZones": [],
+  "eventMarkers": [],
+  "globalConstraints": {
+    "maxVelocity": 3.0,
+    "maxAcceleration": 3.0,
+    "maxAngularVelocity": 540.0,
+    "maxAngularAcceleration": 720.0,
+    "nominalVoltage": 12.0,
+    "unlimited": false
+  },
+  "goalEndState": {
+    "velocity": 0,
+    "rotation": 0.0
+  },
+  "reversed": false,
+  "folder": null,
+  "idealStartingState": {
+    "velocity": 0,
+    "rotation": 0.0
+  },
+  "useDefaultConstraints": true
+}

src/main/deploy/pathplanner/settings.json

@@ -0,0 +1,32 @@
+{
+  "robotWidth": 0.9,
+  "robotLength": 0.9,
+  "holonomicMode": true,
+  "pathFolders": [],
+  "autoFolders": [],
+  "defaultMaxVel": 3.0,
+  "defaultMaxAccel": 3.0,
+  "defaultMaxAngVel": 540.0,
+  "defaultMaxAngAccel": 720.0,
+  "defaultNominalVoltage": 12.0,
+  "robotMass": 22.6796,
+  "robotMOI": 6.883,
+  "robotTrackwidth": 0.546,
+  "driveWheelRadius": 0.048,
+  "driveGearing": 5.143,
+  "maxDriveSpeed": 5.45,
+  "driveMotorType": "krakenX60",
+  "driveCurrentLimit": 60.0,
+  "wheelCOF": 1.2,
+  "flModuleX": 0.273,
+  "flModuleY": 0.273,
+  "frModuleX": 0.273,
+  "frModuleY": -0.273,
+  "blModuleX": -0.273,
+  "blModuleY": 0.273,
+  "brModuleX": -0.273,
+  "brModuleY": -0.273,
+  "bumperOffsetX": 0.0,
+  "bumperOffsetY": 0.0,
+  "robotFeatures": []
+}

src/main/java/frc4388/robot/RobotContainer.java

@@ -225,16 +225,16 @@ public class RobotContainer {
     public Command getAutonomousCommand() {
         //return autoPlayback;
         //return new GotoPositionCommand(m_robotSwerveDrive, m_vision);
-	//try{
-	//    // Load the path you want to follow using its name in the GUI
-	//    return new PathPlannerAuto("Example Auto");
-	//} catch (Exception e) {
-	//    DriverStation.reportError("Big oops: " + e.getMessage(), e.getStackTrace());
-	//    return Commands.none();
-	//}
+	try{
+	    // Load the path you want to follow using its name in the GUI
+	    return new PathPlannerAuto("New Auto");
+	} catch (Exception e) {
+	    DriverStation.reportError("Big oops: " + e.getMessage(), e.getStackTrace());
+	    return Commands.none();
+	}
 	// zach told me to do the below comment
 	//return new GotoPositionCommand(m_robotSwerveDrive, m_vision);
-        return new GotoPositionCommand(m_robotSwerveDrive, m_vision, AutoConstants.targetpos);
+      //  return new GotoPositionCommand(m_robotSwerveDrive, m_vision, AutoConstants.targetpos);
     }
 
 

src/main/java/frc4388/robot/subsystems/SwerveDrive.java

@@ -70,7 +70,7 @@ public class SwerveDrive extends Subsystem {
 	    config = null;
 	}
         AutoBuilder.configure(
-			      () -> swerveDriveTrain.samplePoseAt(Utils.getCurrentTimeSeconds()).orElse(null), // Robot pose supplier
+			      () -> swerveDriveTrain.samplePoseAt(Utils.getCurrentTimeSeconds()).orElse(new Pose2d()), // Robot pose supplier
 			      swerveDriveTrain::resetPose, // Method to reset odometry (will be called if your auto has a starting pose)
 			      () -> swerveDriveTrain.getState().Speeds, // ChassisSpeeds supplier. MUST BE ROBOT RELATIVE
 			      (speeds, feedforwards) -> swerveDriveTrain.setControl(new SwerveRequest.ApplyRobotSpeeds()
@@ -222,7 +222,7 @@ public class SwerveDrive extends Subsystem {
     }
 
     public void stopModules() {
-	// swerveDriveTrain.setControl(new SwerveRequest.SwerveDriveBrake());
+	swerveDriveTrain.setControl(new SwerveRequest.SwerveDriveBrake());
     }
 
     @Override