search

Team4761 / 2024CompetitionBot

This is the competition bot for the 2024 FIRST Robotics season.
Other
0 stars 0 forks source link

Fix Swerve Drive Path Planner #17

Open abuddies0 opened 8 months ago

abuddies0 commented 8 months ago

useful docs: https://github.com/mjansen4857/pathplanner/wiki/Java-Example:-Build-an-Auto useful chief delphi post: https://www.chiefdelphi.com/t/configuring-autobuilder-for-frc-pathplanner-what-is-a-ramsete-ltv-holonomic-controller/443028

abuddies0 commented 8 months ago

The coordinate system is setup. PathPlanner is getting the current positions and speeds (I checked with PathPlannerLogger). The command is scheduled and ran as seen by how it accelerates. The command never ends even after reaching the desired goal and I don't know why. In fact, it keeps speeding up for all of eternity for no reason.