I remember I ran into a similar problem like this last year where motor outputs and the drivetrain outputs were not updated enough, as well as motor safety check. That was simply solved by setting the expiration, and setting safety enabled to false.
motor.expiration = Robot.period // default period of robot = 0.02s motor.isSafetyEnabled = false
And same with the drivetrain:
differentialDrive = DifferentialDrive(leftMaster, rightMaster) differentialDrive.expiration = Robot.period differentialDrive.isSafetyEnabled = false
But for some reason there is still this one additional warning that pops up which I don’t know how to get rid of:
Warning at edu.wpi.first.wpilibj.IterativeRobotBase.printLoopOverrunMessage (IterativeRobotBase.java:273): Loop time of 0.02s overrun
On the same topic of robot expiration times, I was reading up on the motion profiling manual from CTRE, and saw that trajectory points have a set time, usually 10ms as a default, and a notifier must be used to make sure it has sufficient time to process the points which must run at twice the speed as the points are being processed so 5ms, so does this mean I have to set the robot’s default period to 5ms by simply setting the period of TimedRobot to 0.005 or is it more complicated than that?