Pathplanner travelling too far

Hello good people of Chief Delphi! I’ve been trying to get Pathplanner to work for our robot and with the help of some on Chief Delphi already and other local teams I’ve been able to get it to behave mostly how I want it to.

However, there is one glaring issue when I run any of my paths. The distance the robot travels is significantly overshooting where I want it to be. Over 10x longer than I’d like it to travel.

I’ve checked my sensors to rule them out as a possibility and they all work appropriately.

I was wondering if anyone had any ideas for why this may be happening. Or, if anyone had any suggestions for tests to run or information that I still need. Someone looking through my code to see any glaring issues or misuse would be more than appreciated. As of now, I’ve looked over this too many times to be able to effectively see what’s wrong or any issues that I’ve brushed over. Currently, I am running a forward 2m and a backward 2m within “blue1” as my basic test that’s giving me these errors.

Attached is a link to my branch on GitHub with my Pathplanner code and limited features present in the main branch of our active code:

vscode-workspace-2022/src/main/java/frc/robot at Trajectory · frcteam1502/vscode-workspace-2022 (

I’d be more than happy to clarify any aspects of our robot or to run any tests

(Ignore my recent commits. I had to commit quickly to switch branches)

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One issue I see is that you are using .set for the CANSparkMax drive motors but passing in meters per second instead of the parameter that it accepts, which is percent output in the range [-1.0, 1.0]

Also not sure why mecanum and swerve exist in the same drivetrain

Hope this helps!

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