Closed bovlb closed 2 days ago
From code inspection, the C++ implementation does not honour the rotation target override.
https://github.com/mjansen4857/pathplanner/blob/05a123d86f47976c564564674fdb997e25b03773/pathplannerlib/src/main/native/cpp/pathplanner/lib/controllers/PPHolonomicDriveController.cpp#L59-L68
Compare with he Java implementation:
https://github.com/mjansen4857/pathplanner/blob/05a123d86f47976c564564674fdb997e25b03773/pathplannerlib/src/main/java/com/pathplanner/lib/controllers/PPHolonomicDriveController.java#L147-L156
I suggest that this should should instead say:
units::radians_per_second_t rotationFeedback { m_rotationController.Calculate(currentPose.Rotation().Radians(), targetRotation.Radians(), { maxAngVel, referenceState.constraints.getMaxAngularAcceleration() }) }; units::radians_per_second_t rotationFF =
From code inspection, the C++ implementation does not honour the rotation target override.
https://github.com/mjansen4857/pathplanner/blob/05a123d86f47976c564564674fdb997e25b03773/pathplannerlib/src/main/native/cpp/pathplanner/lib/controllers/PPHolonomicDriveController.cpp#L59-L68
Compare with he Java implementation:
https://github.com/mjansen4857/pathplanner/blob/05a123d86f47976c564564674fdb997e25b03773/pathplannerlib/src/main/java/com/pathplanner/lib/controllers/PPHolonomicDriveController.java#L147-L156
I suggest that this should should instead say: