Our team has been experimenting with Motion Profiling. We are using 4 Falcon500 motors (interfacing through LabView as TalonFX), 2 motors and 3 wheels on each side. Our main problem has been getting the dimensions in path planner to match the dimensions in real life. We first tried a path with a small S turn, and now with a semicircle. Currently the robot will complete around 75% of the semicircle path after doubling the position value outputted from path planner. The Phoenix tuner plots show that the robot is “following” the velocity graph correctly, however it completes the 75% in around 3.5 seconds where path planner says the entire path should take over 10 seconds.
Source and PathPlanner files: Projects · Ironclad / mp test · GitLab
Any pointers as to what could be wrong? We’ve not yet tampered with any PID values of the motors. Max Velocity and Max Acceleration in PathPlanner are also estimates.