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acmerobotics / road-runner-quickstart

FTC quickstart for https://github.com/acmerobotics/road-runner
BSD 3-Clause Clear License
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.turnTo() has unexpected stutter #332

Closed madacker closed 9 months ago

madacker commented 9 months ago

RR FTC Version

0.1.8

Observed Behavior

Using MeepMeep version 0.1.2:

            myBot.runAction(myBot.getDrive().actionBuilder(new Pose2d(12, 63, Math.toRadians(-90)))
                            .lineToY(60)
                            .turnTo(Math.toRadians(180))
                            .build());

The robot turns 90 degrees and then immediately the robot jumps back in orientation and again does the turn. The stutter depends on the angle: 181 degrees doesn't exhibit the problem in this example while 45 also does. The stutter manifests in both MeepMeep and on the field.

Tuning Files

No response

Robot Logs

No response

rbrott commented 9 months ago

I believe this should be fixed in1.0.0-beta6

madacker commented 9 months ago

Verified the fix on the robot using the repro and a couple of other quick sanity tests.