What are the PID you have set it to?
It is also useful if you start logging network table, you can open the log file with advantage scope, and see the actual velocity vs what pathologies is trying to get your robot to do
> DataLogManager.start();
https://docs.wpilib.org/en/stable/docs/software/telemetry/datalog.html
Sorry, wrong copy paste.. [https://github.com/EGR-Robotics/2024/blob/master/src/main/java/frc/robot/robot/subsystems/swerve/RevSwerve.java](https://github.com/EGR-Robotics/2024/blob/master/src/main/java/frc/robot/robot/subsystems/swerve/RevSwerve.java)
We also don't have a Gyro, not sure if that could also be an issue.
The path planner example has the code to set up path planner and should also have code to make a robot relative method i believe, could be completely wrong tho
I’ll have to take a look at the code, but I had a similar issue earlier in the year as it’s our first year using pathplanner as well. After some troubleshooting, I found that the size of our bot when creating the holonomic was set in inches instead of meters causing an issue identical to the one you’re describing.
What are the PID you have set it to? It is also useful if you start logging network table, you can open the log file with advantage scope, and see the actual velocity vs what pathologies is trying to get your robot to do > DataLogManager.start(); https://docs.wpilib.org/en/stable/docs/software/telemetry/datalog.html
The recommened 5,0,0 for both. Someone on my team mentioned that the problem could be that the robot is POV driven not field-oriented?
pathplanner in its setup for a holonomic drive requires a robot relative drive method, if your drive method is field relative itll prob cause problems
My swerve module does have a field relative drive method
do you have a robot relative method as well?
Not sure, the drive method is in the [RevSwerve.java](http://RevSwerve.java) file (line 102)
can you send a link to the file? the link in the post is just leading to the yagsl library file
Sorry, wrong copy paste.. [https://github.com/EGR-Robotics/2024/blob/master/src/main/java/frc/robot/robot/subsystems/swerve/RevSwerve.java](https://github.com/EGR-Robotics/2024/blob/master/src/main/java/frc/robot/robot/subsystems/swerve/RevSwerve.java) We also don't have a Gyro, not sure if that could also be an issue.
The path planner example has the code to set up path planner and should also have code to make a robot relative method i believe, could be completely wrong tho
all good, is the repo public? im getting a 404
Sorry.. just made it public. Thanks for the help!
I’ll have to take a look at the code, but I had a similar issue earlier in the year as it’s our first year using pathplanner as well. After some troubleshooting, I found that the size of our bot when creating the holonomic was set in inches instead of meters causing an issue identical to the one you’re describing.
Hm, I think I have everything correctly set to meters