Pathfinding bot freezes when it approaches its target

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#1

I made a bot that follows the player, but whenever it gets close to the player, it just stutters (as in just freezing up for a bit, it doesn’t change the way it’s facing). Here is a clip demonstrating this:

botjitter2.wmv

It’s probably not the code because the code doesn’t take too long to run (I checked, it usually takes about 0.00005 seconds to run, too small to cause twitching). Most of the code is under a MoveToFinished event so it could be that the event itself is slow. There is another thread with a similar issue, but this thread says that that is a bad idea. Should I just use the former thread’s solution or follow the latter thread’s advice? Is there a better solution?

Here’s code just in case:

Bot Code 
local Character = script.Parent
local HRP = Character.HumanoidRootPart
local Humanoid = Character:FindFirstChildOfClass("Humanoid")

local PathfindingService = game:GetService("PathfindingService")
local Path = PathfindingService:CreatePath()
 
local waypoints
local currentWaypoint
local Goal

function HomeTo(Destination)
	--Generate Path
	Goal = Destination
	Path:ComputeAsync(HRP.Position, Goal)
	
	--Set variables
	local storedGoal = Goal
	local waypoints = Path:GetWaypoints()
	local currentWaypoint = 1
	local waypoint = waypoints[currentWaypoint].Position
	
	--Path recalculation variables
	local currentlyCalculating
	local pathCalculated
	
	--Reset variables to original values
	local function Restart()
		storedGoal = Goal
		waypoints = Path:GetWaypoints()
		currentWaypoint = 1
		waypoint = waypoints[currentWaypoint].Position
	end
	
	local function RecalculatePath()
		coroutine.resume(coroutine.create(function()
			currentlyCalculating = true
			local startPosition = waypoint
			
			--Check if bot has a future waypoint
			if waypoints[currentWaypoint + 1] then
				startPosition = waypoints[currentWaypoint + 1].Position
			end
			
			--Recalculate path
			storedGoal = Goal
			Path:ComputeAsync(startPosition, storedGoal)
			
			pathCalculated = true
			currentlyCalculating = nil
		end))
	end
	
	Humanoid:MoveTo(waypoints[currentWaypoint].Position)
	RecalculatePath()
	
	local onGoal; onGoal = Humanoid.MoveToFinished:Connect(function()
		if pathCalculated then --If a new path was found
			pathCalculated = nil
			Restart()
			
			Humanoid:MoveTo(waypoint)
		else
			currentWaypoint = currentWaypoint + 1
			
			--Move agent
			if waypoints[currentWaypoint] then
				waypoint = waypoints[currentWaypoint].Position
				Humanoid:MoveTo(waypoint)
				
				--If agent must jump
				if waypoints[currentWaypoint].Action == 1 then
					Humanoid.Jump = true
				end
			else
				--[[Will improve this later
				while storedGoal == Goal do
					wait()
				end
				
				RecalculatePath()
				Restart()
				
				Humanoid:MoveTo(waypoint)]]
			end
		end
		
		if storedGoal ~= Goal and not currentlyCalculating then --If goal was changed
			RecalculatePath()
		end
	end)
end

--Yield so I can see the bot move
wait(4)

HomeTo(game.Players:GetPlayers()[1].Character.HumanoidRootPart.Position)

--Change goal every once in a while
while true do
	wait(.5)
	
	Goal = game.Players:GetPlayers()[1].Character.HumanoidRootPart.Position
end

Note: The twitching happens even when I don’t move / the destination in the code doesn’t change

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