[dakaufma]

We have only minimally tuned our drive PID constants (because our robot isn't close enough to its final weight yet), but it is working fairly well with P=D=0 and I=0.01. Perhaps you are using values that are too large? If the robot is oscillating your constants are too large.

Note that you generally want to tune the PID loop with the P constant in position control, but in speed control the I constant takes the place of the P constant and P takes the place of D. CD has a lot of threads about speed-based PID control by now; refer to them for details about tuning speed PID loops.