Option to get end waypoint in code

[vichik123]

It would really improve our autonomous if we could get the end waypoint of the current trajectory, while using the auto builder in the pathplanner gui. Is there already a way to do this?

[vichik123]

Ok, we found a convoluted way to do it, I think it would be better if there was a simple way.

[mjansen4857]

PathPlannerAuto/Auto builder is a much simpler abstraction of full auto routines, and isn't really good for stuff like that as it doesn't directly expose the path being run to the user. There really isn't a "simple way" you'd be able to get the path being run in a useful way because of how everything is structured.

If you need to be able to interact with the paths, I'd recommend against using PathPlannerAuto to begin with and just use auto builder to make the path following commands, then create your auto command groups with them manually.

[vichik123]

Ok, thanks.