Path Planning and Trajectory Troubles

[sraque]

Here is what we found:

1. Our path planner is fine. We generated a path with the same inputs as antman, and our numbers are very close.
2. We executed antman's path file. Similarly to our file, the robot did not end up exactly where we wished.
3. We have lowered max velocity (as gerthworm suggested) and increased max jerk (from what we had) and are seeing improved accuracy. We are also getting less dispersion.
4. We are continuing to experiment with various values and tweaking based on better understanding of the center of rotation (per Jarod and Ether).

Thanks again to all.