Support

Before reporting a control problem, collect:

1. the exact VantagePath commit or release;
2. wheel diameter, effective track width, gear ratio, and units;
3. configured kS, kV, and kA for both sides;
4. reference and measured pose;
5. target and measured wheel speeds;
6. commanded and available voltage;
7. actual loop period and final FollowerStatus.

Search existing issues or open a reproducible report on GitHub Issues.

Tip

A short CSV log and a minimal two-waypoint trajectory are much easier to diagnose than a video of a full autonomous routine.