[palyrobotics]

So we wrote PID code for our robot and it is acting very strangely. Encoders seem to be working fine, but on one side the talons go far past the set point and on the other side they approach it then change direction. We printed out the error and confirmed that it is decreasing and is correct. Even when we only use the proportional value, and the error is positive, for some reason one side decelerates and switches direction. We tested code that worked on last years robot with slight modification like changing victors to talons and it acted the same way.