Today I was testing pathplanner with swerve for the first time and it was having issues if the initial rotation of the path wasn’t 0. I made a path where the initial rotation was 180 then it would drive away and turn around but the robot was driving the wrong way any.
here is my code for my auto, swerve system and the path it was running:
Most likely, it is the difference between heading and holonomic rotation.
Heading is the direction the bot enters and leaves a point.
Holonomic rotation is the direction the front of is facing at that point.
Is the test_path the path you are seeing this on? I added it to our code base and it seemed fine, if not can you please link the path this is happening on.
i readed the path to the repo heres the link: src/main/deploy/pathplanner/issue_path.path · master · Ironclad / ironclad_thor · GitLab
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