.turnTo() has unexpected stutter
madacker opened this issue · 2 comments
madacker commented
RR FTC Version
0.1.8
Observed Behavior
Using MeepMeep version 0.1.2:
myBot.runAction(myBot.getDrive().actionBuilder(new Pose2d(12, 63, Math.toRadians(-90)))
.lineToY(60)
.turnTo(Math.toRadians(180))
.build());
The robot turns 90 degrees and then immediately the robot jumps back in orientation and again does the turn. The stutter depends on the angle: 181 degrees doesn't exhibit the problem in this example while 45 also does. The stutter manifests in both MeepMeep and on the field.
Tuning Files
No response
Robot Logs
No response
rbrott commented
I believe this should be fixed in1.0.0-beta6
madacker commented
Verified the fix on the robot using the repro and a couple of other quick sanity tests.