Trajectory Pathing with Falcon 500 Encoders


I’m currently in the process of working through trajectories with the Falcon 500 Integrated Encoders. I’ve gone through the wiki and other similar posts, but I couldn’t really find anything that helped.
The main issue is that the robot just gutters back and forth in place instead of going along the path. I might just be overlooking something very obvious.
Here’s the Github

Any help is appreciated!

In your getWheelSpeeds() function under your DriveTrain class, you need to convert the selected sensor velocity from encoder units to meters. Keep in mind that getSelectedSensorVelocity() returns encoder units per 100 ms, so just multiply it by 10 to get encoder units per second, then use the same conversion values you have when you update your odometry in the periodic function.

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