My team has recently been working on implementing PathFinder in Python. Unfortunately, we seem to be running into some unit conversion issues between meters and feet. We can either make the trajectories the right unit or the PID setpoint/process variable the right unit, but not both.
As an example, in the pathfinder-example code on Github, when the P gain is set to 0 and the heading improvements are removed, the robot spins out of control in the simulator. Shouldn’t its behavior be at least somewhat correct, with these corrections only being slight modifiers?
This leads me to wonder, is the unit conversion an issue in our code, or the Python PathFinder implementation? If the Python PathFinder implementation is correct, can someone explain/show me how to make the example code work decently without P gain or heading correction? Thanks in advance!