External AD* implementation for PPLib (#173)

.gitignore

@@ -34,6 +34,7 @@ logs
 
 # Executables
 *.exe
+!pplib_coprocessor.exe
 *.out
 *.app
 

run_pplib.bat

@@ -0,0 +1,3 @@
+@echo off
+echo Usage: run_pplib.bat ^<RIO_IP^>
+pplib_coprocessor.exe --server %1

src/main/cpp/RobotContainer.cpp

@@ -18,6 +18,8 @@
 #include <frc2/command/WaitCommand.h>
 #include <frc2/command/button/JoystickButton.h>
 #include <pathplanner/lib/auto/AutoBuilder.h>
+#include <pathplanner/lib/pathfinding/Pathfinding.h>
+#include <pathplanner/lib/pathfinding/RemoteADStar.h>
 #include <pathplanner/lib/util/PathPlannerLogging.h>
 #include <subzero/logging/ShuffleboardLogger.h>
 #include <subzero/utils/InputUtils.h>
@@ -80,6 +82,11 @@ RobotContainer::RobotContainer() {
 }
 
 void RobotContainer::RegisterAutos() {
+#ifdef USE_REMOTE_AD_STAR
+  pathplanner::Pathfinding::setPathfinder(
+      std::make_unique<pathplanner::RemoteADStar>());
+#endif
+
   pathplanner::NamedCommands::registerCommand(AutoConstants::kLedFunniName,
                                               m_leds.Intaking());
   pathplanner::NamedCommands::registerCommand(

src/main/include/constants/AutoConstants.h

@@ -16,6 +16,10 @@
 
 #include "constants/ScoringConstants.h"
 
+// See https://github.com/mjansen4857/pplib_coprocessor
+// Ensure run_pplib.bat is running from the root of this repo too if in-use
+#define USE_REMOTE_AD_STAR
+
 namespace AutoConstants {
 constexpr auto kMaxSpeed = 3_mps;
 constexpr auto kMaxAcceleration = 1.5_mps_sq;