[teslalab2]

that makes sense of how a plain p controller would work well for a gyro. Also, you shouldn't be getting any oscillations in a PID, that is partially the point of a PID. If it is tuned correctly. You can get oscillations however if you use too much Ki., that constant needs to be very low. Our robot this year with mecanum had encoders with PID's. I spent days tuning it, but when everything was said and done, the PID could account for 6 totes and a container on our robot, and it would strafe with very little deviation.

Anyways I am still torn on which Drive train to go with, I could not find a video of an FRC robot with omni on youtube. Does anyone know of a video of one?

Thanks