Pathplanner Auto not working

[noahkr07]

Teleop swerve works fine, but when I try to run an auto that drives 1 meter forward, the robot just keeps driving. Limiting the velocity and acceleration does not work and in the pathplanner telemetry tab it says that actual velocity is 0 while commanded is a real value.

[tbowers7]

Can you post the output of the >WPILib: Open Project Information window?

[noahkr07]

I tested the new develop branch, and it was giving me the same issues. I noticed that the robot would drive into a random diagonal direction at full speed when I try auto after driving in teleop but if I ran auto immediately after deploying, it roughly followed the auto with what seemed to be very shaky PID values. I updated robot configuration in pathplanner and it seemed to have no effect.

[tbowers7]

Also, test your drivebase using the same PathPlanner auto but using the AdvantageKit TalonFX Swerve template (copy over your TunerConstants.java file) as the base drive code. Post here any differences in behavior.

[noahkr07]

Testing in the "33-pathplanner-auto-not-working" partially solved the random direction issue that I previously described. It drives in the correct direction but does not stop. What is more interesting is that when I tested using the AdvantageKit TalonFX Swerve template the auto worked flawlessly. To make sure that pathplanner wasn't the issue, I took the previous paths and autos and tested them in this template as well and it worked perfectly again.

[tbowers7]

Thanks. That's what I suspected. When I extended / adopted the AdvantageKit template, some things didn't get plumbed through quite the way I had hoped. I will work on comparing the specifics of the two (AK <--> RBSI) to try to figure out where I messed up.

In the meantime, you can develop autos using the AK template -- since I will be working to get the RBSI working smoothly like AK.

[tbowers7]

@noahkr07 , go ahead and try the latest version of the 33-pathplanner-auto-not-working branch with PathPlanner and please let me know how it compares with the AK template. I made several changes that help RBSI align better with the AK template.

[tbowers7]

Closed with #36 .