Trajectory Tracking w/ Ramsete not working

Vinay_Pan · February 15, 2020, 3:53pm

Hi everyone,

After trying to implement the example trajectory on our test robot, it doesn’t properly follow it (supposed to make an “S” shape). All it does is make jittery movements to a straight line. Does anyone have any ideas as to why this could be happening?

Thanks in advance,
vp

Github: GitHub - CombustibleLemons5113/2020-Robot-Java-TestChassis: The code for the 2020 test chassis

https://imgur.com/h03suxJ

Hpatel · February 15, 2020, 6:35pm

github.com

CombustibleLemons5113/2020-Robot-Java-TestChassis/blob/9df5d860604c039a7f9d4f2055e0483a8a5c693c/src/main/java/frc/robot/subsystems/DriveTrain.java#L153


}


public double getTurnRate() {
  return gyro.getRate();
}


public void driveCartesian(double left, double right) {
  driveBase.tankDrive(left, right); 
}


public void tankDriveVolts(double leftVolts, double rightVolts) {
  leftMaster.setVoltage(leftVolts);
  rightMaster.setVoltage(rightVolts);
}


public void setLeftSpeed() 
{
  //leftMaster.setVoltage(pid.calculate(getLeftRPM(),setPoint) + feedforward.calculate(setPoint));
  System.out.println(leftMaster.getSelectedSensorVelocity(0));
  System.out.println(leftMaster.getSupplyCurrent());

Try calling driveBase.feed() when setting the voltage of the motors individually

system · February 14, 2021, 6:35pm

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