[Ari423]

Sounds like your problem is you are going into and staying in the deadband zone for a noticeable amount of time. If your max is .1 (10% of full throttle) and your min is -.1, 40% of your range is in the deadband zone. Besides not being on a good place on the motor curve, you are going to have a hard time controlling your movements when 40% of speeds get cut off to 0. Sounds like you may need a larger gear reduction on your motor (or find a slower motor). Is there a reason you are limiting the output so severely besides speed? Maybe try re-tuning the PID coefficients and reducing the output limits.