[Pault]

First of all, what are you specifically trying to do. Are you trying to PID each side of your drivetrain to drive a certain distance? Are you trying to use a Speed PID to make both sides of your robot go at the same speed, or are you doing something with a gyro?

But trying to a dress some of your questions:


1. Your motors absolutely need to be under load if the load is significant. Depending on what you are doing, this may or may not be true. If you are just trying to command seperate distances to each side of the drivetrain, the load should be negligible. If you are doing something with a gyro, you need to be on the gound. Just try to find an open space, and make sure someone is always hovering over the disable button.

2. I wouldnt worry about. It is completely reason able to have a kp of .0001 or 100. It just depends on what you are doing.

3. That is concerning. There may be something wrong with your sensors. I'm not sure what else to suggest.

4. Once again, this seems to point to a problem with your sensor. Could the sensor itself be bad? Maybe you didn't solder the breakout board properly?