right now the doneDrive variable is set to true the instant the robot is within error of the last point on the path. This doesn't account for the momentum of the robot and it could coast past the final point. We need to make sure the robot stays within error for a minimum amount of time before marking it as complete. SimPID has this functionality included in it so we should take advantage of that for the drive
right now the
doneDrivevariable is set totruethe instant the robot is within error of the last point on the path. This doesn't account for the momentum of the robot and it could coast past the final point. We need to make sure the robot stays within error for a minimum amount of time before marking it as complete. SimPID has this functionality included in it so we should take advantage of that for the drive