Merge pull request #4 from Team-6615-Bellevillains/warmup-pathplanner

Warmup pathplanner
Team-6615-Bellevillains · Mar 26, 2024 · 8970dda · 8970dda
2 parents 936e18a + fb23046
commit 8970dda
Showing 1 changed file with 4 additions and 0 deletions.
diff --git a/src/main/java/frc/robot/Robot.java b/src/main/java/frc/robot/Robot.java
@@ -4,6 +4,7 @@
 
 package frc.robot;
 
+import com.pathplanner.lib.commands.FollowPathCommand;
 import edu.wpi.first.wpilibj.Filesystem;
 import edu.wpi.first.wpilibj.TimedRobot;
 import edu.wpi.first.wpilibj.Timer;
@@ -53,6 +54,9 @@ public void robotInit() {
         // Create a timer to disable motor brake a few seconds after disable.  This will let the robot stop
         // immediately when disabled, but then also let it be pushed more
         disabledTimer = new Timer();
+
+        // Prevent first PathPlanner path following command from being slow. Doesn't actually move the robot.
+        FollowPathCommand.warmupCommand().schedule();
     }
 
     /**