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Common Issues

Common issues and solutions when working with BLine paths. This guide covers the most frequently encountered problems and provides actionable steps to resolve them.

Robot Overshoots at Turns

Causes:

  • Velocity too high for handoff radius
  • Handoff radius too small

Solutions:

  1. Add velocity constraint before the turn
  2. Increase handoff radius at that element
  3. Add an intermediate TranslationTarget to break up the path

Robot Hesitates at Waypoints

Causes:

  • Handoff radius too small
  • Velocity constraint too aggressive

Solutions:

  1. Increase handoff radius
  2. Review velocity constraints

Path Takes Longer Than Expected

Causes:

  • Constraints too conservative
  • Too many elements
  • End tolerances too tight

Solutions:

  1. Review constraint values
  2. Simplify path with fewer elements
  3. Loosen end tolerances if precision isn't critical

Robot Doesn't Face Correct Rotation

Causes:

  • Missing rotation target
  • Profiled rotation causing slow transition
  • Rotation controller P too low

Solutions:

  1. Add RotationTarget or Waypoint with desired rotation
  2. Try non-profiled rotation for immediate rotation change
  3. Tune rotation controller gains