FAQ

Why is my robot so slow?

Try tuning odom_look_ahead value, 10 is a good start.

Is there a minimum speed for drive motions?

No, there is no minimum speed for drive motions. If you are having issues with your robot not reaching its target, tune the PID following this guide.

Why is my auton not working / controller buzzing three times / Red loading bar

This indicates an IMU issue. Check your cable / port to make sure its wired correctly.

Why does my robot keep spinning in place?

Most likely your left and right drivetrain ports are flipped. Inverse them by adding/removing negative sign. You can follow this tutorial on configuring the Drive Constructor.

How do I account for IMU drift?

You can try to mediate slight IMU drift by tuning the IMU Scaler.