Hello, we have recently switched to using Choreo instead of PathPlanner for our autonomous trajectories. A few weeks ago we tested basic paths and they were running fine. This week however, when we tested our rotation and movement in the x and y directions independently, the robot didn’t rotate enough (it rotated about 5/6 of any given angle). Additionally, while the robot mostly moved correctly for the x and y directions, it was also not moving enough and sometimes did not run straight, not exhibiting a clear pattern. We are unsure of what changed between the 2 times we have tested Choreo.
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have there been any hardware or software changes since you last ran choreo? this sounds like odometry might not be tracking accurately, you should make sure where the robot is moving and where the robot thinks its moving match