I’m using The ramsete controller example from wpilib and i’m getting very weird results, when running the command it sorta jiggles back and forth very fast.
here are my gains if that helps
ks = 0.145
kv = 2.72
ka = 0.467
kPDriveVel = 15.9
You’re P gain is very high and the oscillations you are mentioning in the drive train are symptomatic of such a high gain.
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