Replace RAMSETE documentation with PathPlanner and Choreo guidance#3118
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jasondaming wants to merge 2 commits intowpilibsuite:mainfrom
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Replace RAMSETE documentation with PathPlanner and Choreo guidance#3118jasondaming wants to merge 2 commits intowpilibsuite:mainfrom
jasondaming wants to merge 2 commits intowpilibsuite:mainfrom
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The RAMSETE controller and RamseteCommand have been deprecated and removed from WPILib. This commit updates the trajectory tutorial to: - Recommend PathPlanner and Choreo as modern path planning solutions - Reframe the tutorial as WPILib prerequisites for path planning tools - Provide installation instructions for PathPlannerLib and ChoreoLib - Explain required robot subsystem methods for path following - Add deprecation warnings throughout RAMSETE documentation - Completely rewrite Step 4 to guide teams to third-party tools The tutorial now focuses on the WPILib foundation (characterization, odometry, drive subsystem setup) that teams need before using any path planning tool, then points them to PathPlanner or Choreo docs. Fixes wpilibsuite#2651
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Are Pathplanner and Choreo really replacements for teams that have differential drivetrains? I remember seeing a team struggling to get Pathplanner working with their differential drivetrain because the documentation was fairly non-existent. And I think Choreo only supports Holonomic drivetrains. |
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They aren't as well tread these days as swerve but nothing is. I still recommend both of these to teams. I think most teams struggle more with the surrounding kinematics / odometry of diff than actually with PP itself. Choreo does support differential drivetrains as of a couple years ago. I don't know how often it has been used/tested. |
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Summary
Updates the trajectory tutorial to recommend PathPlanner and Choreo instead of the deprecated RAMSETE controller, while maintaining the tutorial's value as a guide for WPILib prerequisites.
Changes
Updated Files
New Content
Philosophy
The tutorial now teaches the foundation (characterization, odometry, drive subsystem) that teams need for ANY path planning solution, then directs them to modern third-party tools that are more capable and widely used.
Fixes #2651