Hello! We are currently struggling with Path Planner for tank drive. We have been working on this for a couple of days now, and no matter what we change the robot always seems to drift right when it is supposed to be going in a straight line. The code will still build and deploy correctly with no errors. Below I will show a bit of our code for the Ramsete:
We also have the Odometry updating in periodic.
We had an issue where we didn’t set the initial pose for our auto in PathPlanner. When we published odometry to a field2d widget in shuffleboard, we found that the robot was starting at 0, 0 which would cause our robot to drift right when trying to follow our path to get to the paths starting coordinate.
http://pathplanner.dev/gui-editing-paths-and-autos.html#starting-pose
Does you robot drift to the right if you try to go straight in TeleOp as well?
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