Is there a way of doing chassis speed ramping with Okapi and/or PROS

I’ve been working on making my teams robot more accurate in auton. We are using PID and odom through Okapilib already. Those work very well. The only part left is fixing the front from jumping when the robot starts moving. I’ve been told it should be at the motor level however I can’t find any mention of this anywhere in the docs for both Okapilib and PROS. This makes me wonder if it’s even implemented. I’m using the Okapilib OdomChassisController for my chassis controls.

I believe what team 7K did last year was they started their motion with profiling (which has the desired non-jerky acceleration) and finished it with a PID. Okapilib supports both of these, so it shouldnt be too difficult.

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How would you hand that off like that? I mean without the chassis stopping in between.

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