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Specific Paths in Autos Don't Flip #910

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PickleFace5 opened this issue Nov 18, 2024 · 2 comments · Fixed by #915
Closed

Specific Paths in Autos Don't Flip #910

PickleFace5 opened this issue Nov 18, 2024 · 2 comments · Fixed by #915
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bug Something isn't working PathPlannerLib Changes to PathPlannerLib
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@PickleFace5
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PickleFace5 commented Nov 18, 2024

Describe the bug
When running an auto that consists of multiple paths, paths become unflipped. In my scenario, if you want to flip the path when your on the red alliance, the first 1 or 2 paths will be on the red side, but then on the 3rd path, the robot will travel to the opposite side of the field and complete the auto on the wrong side.

The issue seems to happen under a specific criteria I haven't been able to pinpoint. I have included my team's repository in the steps to reproduce, which is the entire project with 3 autos (you can just copy our PP deploy folder, our code is basically the CTRE SwerveWithPathPlanner example):

  • WorkingAuto, made up of 2 paths. This path works as expected on both alliances.
  • NotWorkingAuto, made up of the same paths as WorkingAuto, but with an additional 3rd path that experiences this issue.
  • SinglePathTest, which is the 3rd path from NotWorkingAuto by itself. This auto works on both alliances.

To Reproduce
Steps to reproduce the behavior:

  1. Go to my team's repository.
  2. In simulation, run each auto.
  3. See error

Expected behavior
Each path in the auto should flip if the specified condition is met (in this case the DS being red).

Screenshots
I have attached a video of an AdvantageScope log that logs the current robot pose (red), the desired pose (green), and the current path/trajectory (green). This video showcases each auto in order from top to bottom.

Screen.Recording.2024-11-18.002631.mp4

Versions: (please complete the following information):

  • OS: Windows 11
  • GUI Version: v2025.0.0-beta-4
  • PPLib Version: 2025.0.0b4
  • PPLib Language: Python
@PickleFace5 PickleFace5 added the bug Something isn't working label Nov 18, 2024
@mjansen4857 mjansen4857 added the PathPlannerLib Changes to PathPlannerLib label Nov 21, 2024
@mjansen4857 mjansen4857 added this to the 2025 Beta 5 milestone Nov 21, 2024
@mjansen4857
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  • WorkingAuto, made up of 2 paths. This path works as expected on both alliances.
  • NotWorkingAuto, made up of the same paths as WorkingAuto, but with an additional 3rd path that experiences this issue.
  • SinglePathTest, which is the 3rd path from NotWorkingAuto by itself. This auto works on both alliances.

Which autos are these in your deploy folder? I looked at your repo but don't see anything that seems to match up to these names.

@mjansen4857
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Nevermind I found the issue, I don't need the autos.

@mjansen4857 mjansen4857 linked a pull request Nov 21, 2024 that will close this issue
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Labels
bug Something isn't working PathPlannerLib Changes to PathPlannerLib
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