Open hyusap opened 7 months ago
running this code and other similar splines causes something to hang and the robot locks in strafe and drives into a wall.
drive.actionBuilder(beginPose) .splineToLinearHeading(new Pose2d(30, 30, 0), 0)
expected:
actual:
https://github.com/acmerobotics/road-runner-ftc/assets/61765149/f16f3a06-f01c-423b-af38-d665441bc5ed
full code:
package org.firstinspires.ftc.teamcode.tuning; import com.acmerobotics.roadrunner.Pose2d; import com.acmerobotics.roadrunner.Vector2d; import com.acmerobotics.roadrunner.ftc.Actions; import com.qualcomm.robotcore.eventloop.opmode.LinearOpMode; import org.firstinspires.ftc.teamcode.MecanumDrive; import org.firstinspires.ftc.teamcode.TankDrive; public final class SplineTest extends LinearOpMode { @Override public void runOpMode() throws InterruptedException { Pose2d beginPose = new Pose2d(0, 0, 0); if (TuningOpModes.DRIVE_CLASS.equals(MecanumDrive.class)) { MecanumDrive drive = new MecanumDrive(hardwareMap, beginPose); waitForStart(); Actions.runBlocking( drive.actionBuilder(beginPose) .splineToLinearHeading(new Pose2d(30, 30, 0), 0) .build()); } else if (TuningOpModes.DRIVE_CLASS.equals(TankDrive.class)) { TankDrive drive = new TankDrive(hardwareMap, beginPose); waitForStart(); Actions.runBlocking( drive.actionBuilder(beginPose) .splineTo(new Vector2d(30, 30), Math.PI / 2) .splineTo(new Vector2d(0, 60), Math.PI) .build()); } else { throw new RuntimeException(); } } }
Would you mind attaching a robot log? See https://rr.brott.dev/docs/v1-0/tuning/#getting-help
running this code and other similar splines causes something to hang and the robot locks in strafe and drives into a wall.
expected:
actual:
https://github.com/acmerobotics/road-runner-ftc/assets/61765149/f16f3a06-f01c-423b-af38-d665441bc5ed
full code: