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works but just needs to adjust a bit to match the rotation heading.
aschokking
requested changes
Dec 13, 2025
| currentPostion = pose.getCurrentHeading().getDegrees(); | ||
| double speed = pose.getCurrentHeading().getDegrees() - previousPos; | ||
| double error = goal - pose.getCurrentHeading().getDegrees(); | ||
| double power = error - speed; |
Collaborator
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⭐ ⭐ this is often where we would multiply error and speed by factors (p and d) so we can tune in different values for how hard it should be trying and how hard it should be braking
Owner
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But will this code still work without the tuning?
The tuning will just be used for more advanced controlling right?
Collaborator
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You could go faster in the simulator even by tuning the values, I'm honestly kind of surprised it's working at all right now as is.
| @Override | ||
| public boolean isFinished() { | ||
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| //speed, current position, |
Collaborator
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⭐ ⭐ ⭐ this should be returning if we've reached our goal, like you're doing above with the orientation one. Same idea of low error and low speed can apply here!
| @Override | ||
| public boolean isFinished() { | ||
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| return false; |
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Whats changing?
Questions/notes for reviewers
How did you test this?