I’m using okapi odometry chassis and the positions and headings are perfect, but when I try to use the turn to point command it won’t turn to the same point except if i turn to + or - {52_in,52_in} in which it does without fail here is my odometry chassis
chassis = ChassisControllerBuilder()
.withMotors(8,15,16,2)
.withGains(
{0.0005, 0, 0.00005}, // distance controller gains
{0.006, 0, 0.0001}, // turn controller gains
{0.001, 0, 0.0001} // angle controller gains (helps drive straight)
)
.withSensors(
ADIEncoder{'A', 'B'}, // left encoder in ADI ports A & B
ADIEncoder{'G', 'H',true}, // right encoder in ADI ports C & D (reversed)
ADIEncoder{'C', 'D', true} // middle encoder in ADI ports E & F
)
.withLogger(
std::make_shared<Logger>(
TimeUtilFactory::createDefault().getTimer(), // It needs a Timer
"/ser/sout", // Output to the PROS terminal
Logger::LogLevel::debug // Most verbose log level
)
)
// green gearset, tracking wheel diameter (2.75 in), track (7 in), and TPR (360)
// 1 inch middle encoder distance, and 2.75 inch middle wheel diameter
.withOdometryTimeUtilFactory(ConfigurableTimeUtilFactory(5,10,50_ms))
.withDimensions(AbstractMotor::gearset::blue, {{2.75_in, 11_in, 5.9_in, 2.75_in}, quadEncoderTPR})
.withOdometry() // use the same scales as the chassis (above)
.buildOdometry(); // build an odometry chassis;