[JohnFogarty]

I've tried several tuning methods and no matter the length of time I run the built in encoder getRate(); method at it always oscillated that much. I was holding the motor at a constant power of 35% and this is the result I got, I'm not sure why exactly it's happening. I was expecting maybe a small amount of error but that is just insane.
it's sampling every 100ms so each number on the bottom is an increment in hundreds of milliseconds. While the y axis of the graph is supposed to represent the rate.