Hey Guys,
Using the okapi library, the xdrive chassis controller, our base moves only with the front two motor groups and not the back two when using a move distance or a motion profile. Is there something we are doing wrong when creating our chassis controller?
auto myChasis = ChassisControllerFactory::create(BaseLeftFront,BaseRightFront,
BaseRightRear, MotorGroup{-7, 5 },
AbstractMotor::gearset::green,
{4_in, 17.5_in}
);
auto profileController = AsyncControllerFactory::motionProfile(1.0,
2.0, 10.0,myChasis);
void GeneratePath(){
profileController.generatePath({Point{0_ft, 0_ft, 0_deg}, Point{5_ft, 0_ft, 0_deg}}, “A”);
profileController.setTarget(“A”);
profileController.waitUntilSettled();
}
void GO(){
myChasis.moveDistance(3_ft);
}