WPILib Trajectory heryky jerky

Hi,

We have walked through the WPILib Trajectory tutorial . Our robot attempts the S maneuver per the tutorial but the motors are quite jerky. Like the motors are hitting a shutdown.

We are using Talons Srx’s. We have the feed() added to the motor voltage method and also set the motor safety to false, but still seeing the problems,

I haven’t adjusted the Kp term from characterization. We are running out of ideas. Any thoughts?

Did you see the warning here: https://docs.wpilib.org/en/latest/docs/software/wpilib-tools/robot-characterization/analyzing-feedback.html

Thank you for punting this out. We did some research I’m adjusting the filtering in the TalonSRX and we can also attempt to tune the Kp term some.

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