Swerve MK4i

Technical Programming
1

I need help solving a problem with the MK4i swerve, it has a delay before going to the correct position. a video of how they are working with the delay wheels. The video link:

WhatsApp Video 2023-12-22 at 2.21.56 PM.mp4 - Google Drive

It is also the link to our code, anyone who can help would be very helpful.

2

It looks to me like the wheel gets to the correct position… and then when you let go of the joystick… goes to the wrong position?

your commanding of it looks okay at first glance… I’d take a look at when values you are driving into your position pid