Auto Correction issue while running a trajectory

[Aaditya-Tiwari]

RR FTC Version

0.1.13

Observed Behavior

Hey Ryan,
So our team is having an issue with auto correction during autonomous mode. Basically in the video below when we move the robot forcefully out of position during autonomous, the problem is that it only auto corrects (we use 3 dead wheel odo) at the end of the trajectory, while in the .5.6 version, it auto corrected during the motion of a trajectory. Do you know why this is happening in the newest version or how we can make it so it auto corrects during the trajectory motion like .5.6 ?

WhatsApp.Video.2024-02-20.at.11.09.07.PM.mp4

Tuning Files

No response

Robot Logs

No response

[rbrott]

1.0 has the same feedback scheme as 0.5. The robot definitely corrects after the second kick/disturbance in the middle of the trajectory. Perhaps there's saturation affecting correction after the first kick. A robot log would be great to analyze here.