Help with Team 254 TrajectoryLib

[axton900]

Hey guys!
We were attempting to use the library and were wondering what the parameters for the construction of a waypoint are in terms of real world measurements. link here

Thanks!

[otherguy]

https://www.chiefdelphi.com/forums/s...trajectory+254

They used inches. Units don't matter though. You get data back in the same units that you put in.

[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?

[Joe Ross]

How did you tune kp, kd, kv, and ka?