Hi. I am trying to get Jaci’s Pathfinder to work. While the robot moves when compiling the code and sending it to the roboRIO, it does unpredictable things each time I start it. For example, the robot will just spin around. I will disable the code and rerun it and it will do something completely different. I used vannaka’s motion profile generator (GitHub - vannaka/Motion_Profile_Generator: Generate paths to follow with a robot.) to get the trajectory, and the robot never follows the path I want it to. If somebody could look through these screenshots and find out the issue with the code, I would greatly appreciate it. Thank you.