Merge pull request #241 from Technologyman00/dev

Add Warmup for Pathfinding
BroncBotz3481 · Oct 23, 2024 · bf60b00 · bf60b00
2 parents 330e69f + 18831b4
commit bf60b00
Showing 1 changed file with 5 additions and 0 deletions.
diff --git a/src/main/java/frc/robot/subsystems/swervedrive/SwerveSubsystem.java b/src/main/java/frc/robot/subsystems/swervedrive/SwerveSubsystem.java
@@ -13,6 +13,7 @@
 
 import com.pathplanner.lib.auto.AutoBuilder;
 import com.pathplanner.lib.commands.PathPlannerAuto;
+import com.pathplanner.lib.commands.PathfindingCommand;
 import com.pathplanner.lib.path.PathConstraints;
 import com.pathplanner.lib.path.PathPlannerPath;
 import com.pathplanner.lib.util.HolonomicPathFollowerConfig;
@@ -182,6 +183,10 @@ public void setupPathPlanner()
         },
         this // Reference to this subsystem to set requirements
                                   );
+
+    //Preload PathPlanner Path finding 
+    // IF USING CUSTOM PATHFINDER ADD BEFORE THIS LINE
+    PathfindingCommand.warmupCommand().schedule();
   }
 
   /**