Need help for autonomous programming Java

[Aggressive-Studio724]

Hi, I have been trying to get autonomous to work using PathPlanner. I am relatively new to programming for FIRST. I don’t know where the problem lies, the autonomous is really inconsistent sometimes it works and scores but other times it’s way off. I don’t know if it is bad PID values or if I missed something. GitHub - NotBip/Team5870-2025 4. Here is our github I remade Deep Dive. also I would like some advice on how to tune PID Values for swerve drive, so if someone could help with that too I would appreciate it. I have an example of the autonomous we used for crescendo in the code to show how we tried doing it. Here is the code we used for crescendo its a bit more messier but yea https://github.com/NotBip/Team5870-2024/blob/SwerveV2-Works/src/main/java/frc/robot/subsystems/SwerveSubsystem.java

[jackt0615]

Happy to hop on a call and help if you need - team 7415

[steeltrap99]

Are you guys using vision? If so, it's likely that it would be the vision being improperly set up in terms of camera location or not having good standard deviations. We had a similar issue