Our pathplanner is working somewhat in the rough way but it seems as if the PID is not tuned exactly, however in teleop and FRC web components our module PID is tuned perfectly.
it seems like the robot is not exactly following the commanded trajectories.
WhatsApp_Video_2024-03-01_at_11.30.54_AM.mp4 - Google Drive (Video of the swerve)
GitHub - Viraj-M/swerve-code-6024 at test (the code)
Yup, indicates a tuning problem. Hard to say exactly if there’s one or multiple issues.
Work backward - for each of these, plot the desired and actual values, and make sure they track well. Stop and fix the tuning on the first one you find issue with.
The plots you showed ultimately say one or more of those has issues, but it won’t be clear which one until you walk through each one by one.
Alr but how do we plot them all in the same graph? We tried using shuffleboard but it doesn’t allow us to combine graphs. Also whats the Azimuth angle?
The azimuth angle, in my own words and how I explain it to my students, is the rotation angle about the z-axis. IN the case of the “Module Azimuth Angle”, this is the rotation of the module controlled by the steer motor.
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