[samfruth]

Yes. And IMO PID isn't actually the best option when rotating to an angle. PID is good for maintaining something like flow rate or temperature over time. What we have done in the past is take the error (or difference between current yaw and desired yaw) and feed that number through as our motor power after it has been either divided or multiplied by some number to make it be in range of 1 to -1 as the motors only operate on those values. Its definitely rudimentary but it gets the job done with some tweaking.