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Update auto cmd example, update menus, builds for release
1 parent 34616bd commit 200fb77

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‎Examples_Pkg/PathPlanner_Examp_Pkg.lvproj‎

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@@ -511,15 +511,15 @@
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@@ -763,7 +763,7 @@
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<Property Name="NIPKG_releaseNotes" Type="Str">See github for complete release notes. https://github.com/jsimpso81/PathPlannerLabVIEW/releases/latest</Property>
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<Property Name="NIPKG_storeProduct" Type="Bool">true</Property>
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<Property Name="NIPKG_VisibleForRuntimeDeployment" Type="Bool">false</Property>
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<Property Name="PKG_autoIncrementBuild" Type="Bool">true</Property>
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<Property Name="PKG_autoSelectDeps" Type="Bool">true</Property>
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<Property Name="PKG_dependencies.Count" Type="Int">5</Property>
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<Property Name="PKG_sources[2].ID" Type="Ref">/My Computer/Build Specifications/All_SourceDistribution</Property>
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<Property Name="PKG_synopsis" Type="Str">LabVIEW FRC robotics PathPlanner library examples</Property>
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<Property Name="PKG_version" Type="Str">2025.1.0</Property>
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<Property Name="NIPKG_addToFeed" Type="Bool">false</Property>
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<Property Name="NIPKG_installerDestination" Type="Path">../builds/NI_AB_PROJECTNAME/JASJunkFrcTrajLib/Package Installer</Property>
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<Property Name="NIPKG_installerDestination.Type" Type="Str">relativeToCommon</Property>
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<Property Name="NIPKG_lastBuiltPackage" Type="Str">pathplannerexampleslv23_2025.1.0-17_windows_all.nipkg</Property>
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<Property Name="NIPKG_license" Type="Ref"></Property>
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<Property Name="NIPKG_releaseNotes" Type="Str">See github for complete release notes. https://github.com/jsimpso81/PathPlannerLabVIEW/releases/latest</Property>
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<Property Name="NIPKG_storeProduct" Type="Bool">true</Property>
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<Property Name="PKG_sources[2].Type" Type="Str">Build</Property>
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<Property Name="PKG_synopsis" Type="Str">LabVIEW FRC robotics PathPlanner library examples</Property>
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‎Examples_Pkg/examples/Auto Cmd Swerve/AutoCommand/PPAS_AUTOCMD_BEGIN.vi‎

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‎Examples_Pkg/examples/Auto Cmd Swerve/PathPlanner_CmdAutoSwerve_Example.lvproj‎

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<Item Name="Make Gyro JSON.vi" Type="VI" URL="/&lt;vilib&gt;/Rock Robotics/WPI/Simulation/Protocol/Devices/Gyro/Make Gyro JSON.vi"/>
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<Item Name="Make Solenoid JSON.vi" Type="VI" URL="/&lt;vilib&gt;/Rock Robotics/WPI/Simulation/Protocol/Devices/Solenoid/Make Solenoid JSON.vi"/>
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<Item Name="Multi Error Cluster.lvlib" Type="Library" URL="/&lt;vilib&gt;/MultiError/TokenizeJSON/Multi Error Cluster.lvlib"/>
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<Item Name="NetComm_AllianceStation.ctl" Type="VI" URL="/&lt;vilib&gt;/Rock Robotics/SystemInterfaces/NetworkCommunication/NetComm_AllianceStation.ctl"/>
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<Item Name="NetComm_ControlWord.ctl" Type="VI" URL="/&lt;vilib&gt;/Rock Robotics/SystemInterfaces/NetworkCommunication/NetComm_ControlWord.ctl"/>
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<Item Name="NetComm_getAllianceStation.vi" Type="VI" URL="/&lt;vilib&gt;/Rock Robotics/SystemInterfaces/NetworkCommunication/NetComm_getAllianceStation.vi"/>
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<Item Name="NetComm_getControlWord.vi" Type="VI" URL="/&lt;vilib&gt;/Rock Robotics/SystemInterfaces/NetworkCommunication/NetComm_getControlWord.vi"/>
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<Item Name="NetComm_getJoystickAxes.vi" Type="VI" URL="/&lt;vilib&gt;/Rock Robotics/SystemInterfaces/NetworkCommunication/NetComm_getJoystickAxes.vi"/>
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<Item Name="NetComm_getJoystickButtons.vi" Type="VI" URL="/&lt;vilib&gt;/Rock Robotics/SystemInterfaces/NetworkCommunication/NetComm_getJoystickButtons.vi"/>
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<Item Name="NetComm_getJoystickPOVs.vi" Type="VI" URL="/&lt;vilib&gt;/Rock Robotics/SystemInterfaces/NetworkCommunication/NetComm_getJoystickPOVs.vi"/>
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<Item Name="NetComm_getMatchInfo.vi" Type="VI" URL="/&lt;vilib&gt;/Rock Robotics/SystemInterfaces/NetworkCommunication/NetComm_getMatchInfo.vi"/>
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<Item Name="NetComm_getMatchTime.vi" Type="VI" URL="/&lt;vilib&gt;/Rock Robotics/SystemInterfaces/NetworkCommunication/NetComm_getMatchTime.vi"/>
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<Item Name="NetComm_MatchType.ctl" Type="VI" URL="/&lt;vilib&gt;/Rock Robotics/SystemInterfaces/NetworkCommunication/NetComm_MatchType.ctl"/>
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<Item Name="NetComm_ObserveUserProgramStarting.vi" Type="VI" URL="/&lt;vilib&gt;/Rock Robotics/SystemInterfaces/NetworkCommunication/NetComm_ObserveUserProgramStarting.vi"/>
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<Item Name="NetComm_SendError.vi" Type="VI" URL="/&lt;vilib&gt;/Rock Robotics/SystemInterfaces/NetworkCommunication/NetComm_SendError.vi"/>
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<Item Name="NetComm_SendMessage.vi" Type="VI" URL="/&lt;vilib&gt;/Rock Robotics/SystemInterfaces/NetworkCommunication/NetComm_SendMessage.vi"/>
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<Item Name="NetComm_SetNewDataOccurrenceReference.vi" Type="VI" URL="/&lt;vilib&gt;/Rock Robotics/SystemInterfaces/NetworkCommunication/NetComm_SetNewDataOccurrenceReference.vi"/>
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<Item Name="NetComm_UnloadCPPStartupProgram.vi" Type="VI" URL="/&lt;vilib&gt;/Rock Robotics/SystemInterfaces/NetworkCommunication/NetComm_UnloadCPPStartupProgram.vi"/>
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<Item Name="NetComm_UsageReport_report.vi" Type="VI" URL="/&lt;vilib&gt;/Rock Robotics/SystemInterfaces/NetworkCommunication/NetComm_UsageReport_report.vi"/>
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<Item Name="WPI_CameraSend Images To PC Loop.vi" Type="VI" URL="/&lt;vilib&gt;/Rock Robotics/WPI/Camera/WPI_CameraSend Images To PC Loop.vi"/>
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<Item Name="WPI_CameraSetNTPublisherValues.vi" Type="VI" URL="/&lt;vilib&gt;/Rock Robotics/WPI/Camera/WPI_CameraSetNTPublisherValues.vi"/>
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<Item Name="WPI_CameraTranslate Percent Codes.vi" Type="VI" URL="/&lt;vilib&gt;/Rock Robotics/WPI/Camera/WPI_CameraTranslate Percent Codes.vi"/>
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<Item Name="WPI_DriverStationAllianceInfo.ctl" Type="VI" URL="/&lt;vilib&gt;/Rock Robotics/WPI/DriverStation/WPI_DriverStationAllianceInfo.ctl"/>
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<Item Name="WPI_DriverStationCreate Lib Version File.vi" Type="VI" URL="/&lt;vilib&gt;/Rock Robotics/WPI/DriverStation/WPI_DriverStationCreate Lib Version File.vi"/>
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<Item Name="WPI_DriverStationDerivedRobotMode.ctl" Type="VI" URL="/&lt;vilib&gt;/Rock Robotics/WPI/DriverStation/WPI_DriverStationDerivedRobotMode.ctl"/>
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<Item Name="WPI_DriverStationGame Specific Data.vi" Type="VI" URL="/&lt;vilib&gt;/Rock Robotics/WPI/DriverStation/WPI_DriverStationGame Specific Data.vi"/>
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<Item Name="WPI_DriverStationGet Alliance Info.vi" Type="VI" URL="/&lt;vilib&gt;/Rock Robotics/WPI/DriverStation/WPI_DriverStationGet Alliance Info.vi"/>
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<Item Name="WPI_DriverStationGet Robot Mode.vi" Type="VI" URL="/&lt;vilib&gt;/Rock Robotics/WPI/DriverStation/WPI_DriverStationGet Robot Mode.vi"/>
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<Item Name="WPI_DriverStationGetModeAndStatus.vi" Type="VI" URL="/&lt;vilib&gt;/Rock Robotics/WPI/DriverStation/WPI_DriverStationGetModeAndStatus.vi"/>
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<Item Name="WPI_DriverStationGetModeAndStatusInternal.vi" Type="VI" URL="/&lt;vilib&gt;/Rock Robotics/WPI/DriverStation/WPI_DriverStationGetModeAndStatusInternal.vi"/>
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<Item Name="WPI_DriverStationGetRemainingMatchTime.vi" Type="VI" URL="/&lt;vilib&gt;/Rock Robotics/WPI/DriverStation/WPI_DriverStationGetRemainingMatchTime.vi"/>
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<Item Name="WPI_DriverStationMatch Info.ctl" Type="VI" URL="/&lt;vilib&gt;/Rock Robotics/WPI/DriverStation/WPI_DriverStationMatch Info.ctl"/>
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<Item Name="WPI_DriverStationPositionInfo.ctl" Type="VI" URL="/&lt;vilib&gt;/Rock Robotics/WPI/DriverStation/WPI_DriverStationPositionInfo.ctl"/>
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<Item Name="WPI_DriverStationReport Robot Code State.vi" Type="VI" URL="/&lt;vilib&gt;/Rock Robotics/WPI/DriverStation/WPI_DriverStationReport Robot Code State.vi"/>
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<Item Name="WPI_DriverStationRobotMode2.ctl" Type="VI" URL="/&lt;vilib&gt;/Rock Robotics/WPI/DriverStation/WPI_DriverStationRobotMode2.ctl"/>
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<Item Name="WPI_DriverStationStart Communication.vi" Type="VI" URL="/&lt;vilib&gt;/Rock Robotics/WPI/DriverStation/WPI_DriverStationStart Communication.vi"/>
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<Item Name="WPI_UtilitiesERRGetRefNum.vi" Type="VI" URL="/&lt;vilib&gt;/Rock Robotics/WPI/Utilities/WPI_UtilitiesERRGetRefNum.vi"/>
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<Item Name="WPI_UtilitiesFRC Build Error.vi" Type="VI" URL="/&lt;vilib&gt;/Rock Robotics/WPI/Utilities/WPI_UtilitiesFRC Build Error.vi"/>
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<Item Name="WPI_UtilitiesFRC FPGATime.vi" Type="VI" URL="/&lt;vilib&gt;/Rock Robotics/WPI/Utilities/WPI_UtilitiesFRC FPGATime.vi"/>
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<Item Name="WPI_UtilitiesFRC SendMessageToConsole.vi" Type="VI" URL="/&lt;vilib&gt;/Rock Robotics/WPI/Utilities/WPI_UtilitiesFRC SendMessageToConsole.vi"/>
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<Item Name="XBox Axes Indexer.ctl" Type="VI" URL="/&lt;vilib&gt;/Rock Robotics/WPI/Joystick/XBox Axes Indexer.ctl"/>
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<Item Name="XBox Buttons Indexer.ctl" Type="VI" URL="/&lt;vilib&gt;/Rock Robotics/WPI/Joystick/XBox Buttons Indexer.ctl"/>
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</Item>

‎Examples_Pkg/examples/Auto Cmd Swerve/SubVI/PPAS_Autonomous Independent.vi‎

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‎Examples_Pkg/examples/Auto Cmd Swerve/SubVI/PPAS_Begin.vi‎

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‎Examples_Pkg/examples/Auto Cmd Swerve/readme.md‎

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X
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## FRC LabVIEW Path Planner Swerve Drive Robot Follow Using Holonomic Drive Controller
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## FRC LabVIEW Path Planner Swerve Drive Robot Auto Cmd Using Holonomic Drive Controller
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This sample robot based on the standard LabVIEW robot project, contains both a simulated and physical robot that creates both relative and absolute trajectories using Path Planner LabVIEW.
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This sample robot based on the standard LabVIEW robot project, contains a simulated robot that reada and follows an Path Planner AUTO command file using Path Planner LabVIEW.
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### Simulated Robot
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NOTE: Ignore the *standard* simulation field.
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### Physical Robot
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This sample could be modfied to run on a physical robot. At a minimum, the following would need to be done.
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The robot code needs to be modified to:
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1. match the hardware that exists on the physical robot.
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2. use the physical robot's differential drive track width.
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3. tune the serve drive and wheel drive control parameters.
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4. tune the robot orientation control
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5. add filtering if needed for gyro and wheel encoder readings.
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### Joystick control map
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- **Right Stick X** -- Drive the robot side to side.
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- **Right Trigger** -- Spin the robot clockwise.
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- **Left Trigger** -- Spin the robot counter clockwise.
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- **A** -- Execute relative trajectory (robot orientation stays the same)
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- **B** -- Execute relative trajectory (robot orientation points in direction of travel)
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- **Start** -- Enable closed loop drive control (default)
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- **Back** -- Disable closed loop drive control.
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- **Left Bumper** -- Execute first absolute trajectory.
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- **Right Bumper** -- Execute second absolute trajectory
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- **Left Bumper** -- Execute auto cmd
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- **POV Right** -- Enable closed loop trajectory control (default)
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- **POV Left** -- Disable closed loop trajectory control.
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Bookmarks in the LabVIEW project describe some items that may need to be customed on the simulated and physical robots to maximize performance.
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### Using a Custom Trajectory
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### Using a Custom Auto or Trajectory
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New trajectory files can be created and used.
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New auto or trajectory files can be created and used.
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### Custom Dashboard
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---
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File last updated: 12/19/2023
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File last updated: 02/21/2025

‎PathPlannerLib24/VI/PathPlanner_Cmd_AutoInitFromAutoFile.vi‎

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‎PathPlannerLib24/VI/PathPlanner_Cmd_AutoLTVUnicycleExecute.vi‎

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‎PathPlannerPkg24/MJansen/dir.mnu‎

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‎PathPlannerPkg24/Menus/PathPlanner_Auto.mnu‎

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