we’ve been using okapi just fine all season until now when using the moveDistance function it no longer goes straight. it curves off to the right . It isn’t mechanical as the issue doesn’t show in driver control or when using regular PROS functions to go forward at a set rpm.
Here is my code:
std::shared_ptr<ChassisController> chassis = ChassisControllerBuilder()
.withMotors({17,19, 13}, {14, 15, 16})
.withDimensions({okapi::AbstractMotor::gearset::blue * 1.6667}, {{3.25_in, 10.5_in},imev5BlueTPR})
.withGains(
{0.003, 0.0, 0.000}, // Distance controller gains
{0.0025, 0.005, 0.000} // Turn controller gains
)
.build();
void testTwo(){
chassis->setMaxVelocity(100);
chassis->moveDistance(3.55_ft);
}