[kiettyyyy]

Rachel, just as previous posts have stated, your kP value looks way too small. I'd recommend setting your kP to 1 and work from there. The goal is to make your P component barely oscillate. Once the P component oscillates, remove the oscillation by increasing your kD constant from 0 to what ever value achieves the goal with minimal or no oscillation.

Assuming you've implemented Connor's recommendations, you should be fine. Feel free to contact us if you'd like some additional help.