[PhilBot]

Originally Posted by Sasha

Or you can just write your own PID. In fact, for position control it suffices to use proportional control (P of PID), and the code is quite simple - this is what we are doing.

But when you are doing that, are you running your motors using the constant speed or constant power setting? I would assume you are using constant speed to overcome varying drag and friction etc. If that's the case, don't expect constant speed to run smooth anymore. It will probably hunt up and down.

Phil.