[GuyM142]

Hey everyone,
my team has been working on vision processing code in order to align the robot to the target automatically during auto and teleop.
From the vision code we get a number ranging from -1 to 1 where 0 is the center of the image, using this number we have tried to apply some sort of PID with an additional force to overcome static friction, but we couldn't make it work.
The force sent to the motor was either to weak which didn't move the robot or too strong making it oscillate uncontrollably around the center.

So I have 2 questions:
1. Is there a good method to overcome this problem according to your past experience?
2. After calibrating the code to work at home, what is the best way to make sure it will work on the actual filed? (With a brand new carpet, etc.)

Thank you!