Trajectory Following Issues

Technical Programming
1

Hello! Our team is having some issues with following a trajectory. I’ve followed all of the steps on the WPILib tutorial, but, while the trajectory is being generated, it is just moving forward. I do see it trying to turn; however, it is not turning nearly enough. I am thinking that there is an issue in how we are making our drivebase, since this has been a reoccurring issue even after we started rewriting our code.

Here is our code. (The relevant drivebase code is in DriveBase.java and DriveIOFalcon.java, and the trajectory generation code is in AutoMotionProfiler.java)

Has anyone else encountered this issue and, if so, what have you done to solve it?

2

You never set your constants you got from system identification

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The SysId constants are in our DriveIOFalcon.java in a switch statement (we put it there so that we could change between our drivebases).

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