Robot not reaching any target point, and is off by the same amount every time

[onthegrid007]

Describe the bug
Robot not reaching any target point, and is off by the same amount every time
we have tuned the pathplanner PID's, input accurate robot dimensions for chassis, wheel diameter, mass, moi, friction COEF.

To Reproduce

we run this path

{
  "version": "2025.0",
  "waypoints": [
    {
      "anchor": {
        "x": 2.0,
        "y": 7.0
      },
      "prevControl": null,
      "nextControl": {
        "x": 2.25,
        "y": 7.0
      },
      "isLocked": false,
      "linkedName": null
    },
    {
      "anchor": {
        "x": 4.0,
        "y": 7.0
      },
      "prevControl": {
        "x": 3.750000000000004,
        "y": 7.0
      },
      "nextControl": {
        "x": 4.26321391015674,
        "y": 7.0
      },
      "isLocked": false,
      "linkedName": null
    },
    {
      "anchor": {
        "x": 2.0,
        "y": 7.0
      },
      "prevControl": {
        "x": 1.75,
        "y": 7.0
      },
      "nextControl": null,
      "isLocked": false,
      "linkedName": null
    }
  ],
  "rotationTargets": [],
  "constraintZones": [
    {
      "name": "Constraints Zone",
      "minWaypointRelativePos": 0.7982942430703587,
      "maxWaypointRelativePos": 1.0063965884861379,
      "constraints": {
        "maxVelocity": 0.5,
        "maxAcceleration": 0.1,
        "maxAngularVelocity": 540.0,
        "maxAngularAcceleration": 720.0,
        "nominalVoltage": 12.0,
        "unlimited": false
      }
    }
  ],
  "pointTowardsZones": [],
  "eventMarkers": [],
  "globalConstraints": {
    "maxVelocity": 3.0,
    "maxAcceleration": 2.0,
    "maxAngularVelocity": 540.0,
    "maxAngularAcceleration": 720.0,
    "nominalVoltage": 12.0,
    "unlimited": false
  },
  "goalEndState": {
    "velocity": 0,
    "rotation": 0.0
  },
  "reversed": false,
  "folder": null,
  "idealStartingState": {
    "velocity": 0,
    "rotation": 0.0
  },
  "useDefaultConstraints": false
}

Expected behavior
should be reaching target points

Screenshots
If applicable, add screenshots to help explain your problem.

Versions: (please complete the following information):

• OS: Windows 11
• GUI Version: 2025.2.1
• PPLib Version: 2025.2.1
• PPLib Language: C++

[mjansen4857]

This is an issue with your config/swerve code. I don't really have the time to debug other teams' code anymore, so you're probably better off looking for help on CD or something. I've seen a few threads there that have found the issue to be part of their config or unit conversions that you could look at.