Im trying to control a west coast robot with pathplanner, but it doesnt seem to stop going forward. I had another problem where it was turning from side to side repeatedly, which i seem to have fixed with the b and zeta values. I dont know what the problem is, and was wondering if anybody could help.
My code is here:
I don’t know specifically what is going on with your code, but I can offer up this repo here that has a working Ramsete Pathplanner command group.
If you clone that repo you can Simulate the robot code from VS Code and run the auto that was developed in Pathplanner. I never went as far as making it work with Autobuilding the sendable chooser and everything, I really just wrote it as a test to see if what we were doing wasn’t working because of Python, or because of misunderstanding.
If you feel a little more comfortable with reading Python, maybe this will help. A sort of major difference between your code and the Python repo is that we found much more success tuning the paths using LTV instead of Ramsete.
See that process explained here.
With the above Python repo, it is also setup to run the simulator for testing if you need to see the code in action or have any questions.
Otherwise, ping here and I’ll try to help as much as I can.
Ok, thanks! I’ll check it out, but I did just realize that I was making the pose as if the robot was on the blue alliance, but then telling the robot it was on red alliance. Thanks anyways for the help!
With pathplanner, you want to build all the paths on the blue side, and have PathPlannerLib take care of flipping them for you.
Always Blue Origin as they like to say.
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