I ran the characterization tool and got these values:
kS = 0.789 kV = 0.439 kA = 0.0705 kP = 0.439
Following the WPILib docs to follow a PathWeaver trajectory, I’m creating and returning a RamseteCommand. The desired path is a simple 5-feet-forward.
When I run the autonomous, the robt gets to the five feet mark and then starts oscillating endlessly, going forward, then backward, then forward, etc.
I ran two trials, one with a 5-foot-forward PathWeaver trajectory, and another 5-foot-forward trajectory generated in code. The behavior is the same. I also set kP to 0; it gets to the setpoint slower, but it still exhibits the same behavior, oscillating around setpoint.
My guess is that it’s just the constants, kS kV kA, that are off. My question is, how would it be off? Everything went fine in the characterization process. If they don’t seem to be off, what could be wrong?