[axton900]

The problem I'm having is that the values I put in the waypoints don't actually result in the robot moving that distance. What I've discovered through experimentation is that if I change the max_vel, the distance the robot travels changes.

What I want is for the robot to drive 8 feet forward. The waypoints I'm using are (0, 0, 0,) and (8, 0, 0). All the values I feed into the motion mapping algorithms are in feet. The robot does not actually go 8 feet; instead it goes to a different destination depending on what Max velocity we input. Does anyone know any possible causes?