Hello. Our team is beginning to use the trajectory following tools within WPILib. The robot code appears to work, somewhat, but we expected a bit less of a violent turn. We’ve run out of ideas about what to adjust in the coding and are hopeful that there will be some guidance here.
A link to our code and a brief video of the robot should be below.
Thanks
https://drive.google.com/file/d/1TquHJ0iRBeQla6QTVgtijf4Ieawcc_WJ/view?usp=sharing
The path you are running is a pretty tight turning path in that it needs to turn almost 180 degree over 1m of travel. You say S curve but the path you have specified is more like a sawtooth signal.
If I was you I would go into PathWeaver and create a path there and then use this code to import that trajectory. That will help you visualize what the robot will do and make sure that expectations match reality.
We’ll give it a try. The trajectory we used came from the example, but it is relatively short and has tight turns. Thanks for the input.
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