We have been able to make pretty great progress on getting some bugs worked out in Pathplanner 2024. But one thing we can’t seem to figure out is the delay in our velocity telemetry. Anyone have any ideas for tuning recommendations based on the following graphs? I’m under the impression that some delay is normal, but this seems relatively delayed between the Commanded vs Actual. We also are seeing some angular wheel movement generated by Pathplanner, when there are zero angular commands in this straight path. Thoughts? Thanks! -Team 554
