Path Overshoot at the End

You might be wondering, why does my robot drift after reaching the endpoint?

To combat this, you can lower your ZeroPowerAccelerationMultiplier (zpam). This can be done either via the FConstants class, or in the PathBuilder using .setZeroPowerAccelerationMultiplier(...). The default value for this multiplier is 4, but you can lower it in increments of 0.5 --- try 3.5, 3, 2.5, and so on until you find something that works.