Linked waypoints at the start/end of paths will now link the start/end rotations. For instance, changing the end rotation of path A will update the start rotation of path B if the end waypoint of path B and the start waypoint of path A are linked
Added support for passing in arbitrary PathConstraints to SwerveSetpointGenerator. This allows limiting the max velocity/acceleration of the robot below its maximum capabilities, such as limiting max acceleration based on the height of an elevator.
Added the ability to mirror paths and autos from the left side of the field to the right and vise versa. and
path.mirrorPath()
new PathPlannerAuto("Auto Name", true)
Fixed incorrect trajectory flipping
Added an annotated version of the 2025 field image, which labels each reef pole
Various bug fixes
Full Changelog
Update path start/end rotations for linked start/end points by @mjansen4857 in https://github.com/mjansen4857/pathplanner/pull/978
Show welcome page if opening project fails by @mjansen4857 in https://github.com/mjansen4857/pathplanner/pull/979
Support arbitrary SwerveSetpointGenerator constraints by @mjansen4857 in https://github.com/mjansen4857/pathplanner/pull/980
Avoid division by zero in python by @mjansen4857 in https://github.com/mjansen4857/pathplanner/pull/982
Remove duplicate angle calculation from C++ by @mjansen4857 in https://github.com/mjansen4857/pathplanner/pull/985
Mention vendor dep manager in install docs by @mjansen4857 in https://github.com/mjansen4857/pathplanner/pull/986
Add ability to mirror paths & autos by @mjansen4857 in https://github.com/mjansen4857/pathplanner/pull/987
[PPLib] Fix chassis speeds flipping in java by @Gold872 in https://github.com/mjansen4857/pathplanner/pull/989
Add annotated field image by @ArchdukeTim in https://github.com/mjansen4857/pathplanner/pull/990
Prevent NaN trajectory time calculations by @mjansen4857 in https://github.com/mjansen4857/pathplanner/pull/994
New Contributors
@Gold872 made their first contribution in https://github.com/mjansen4857/pathplanner/pull/989
@ArchdukeTim made their first contribution in https://github.com/mjansen4857/pathplanner/pull/990
