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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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Ramsette Controller Error Y not existing #370

Closed FalseMSP closed 7 months ago

FalseMSP commented 7 months ago

RR FTC Version

0.1.11

Observed Behavior

Control.kt Ramsete controller is missing a term in the AngVel section. Specifically, it is missing the "error.position.y" term. Correct expression is `return PoseVelocity2dDual.constant( PoseVelocity2d( Vector2d( vRef error.heading.real + k error.position.x, 0.0 ), omegaRef + k error.heading.log() + b vRef sinc(error.heading.log())error.position.y, ), 2 )'

Tuning Files

No response

Robot Logs

No response

rbrott commented 7 months ago

Good catch, should be fixed in the latest core release.