We did not use a PID just the Proportional part of it... and it is good enough to cross the ramparts in auto, then spin 180 and cross them again during lab work. We never had any issues staying straight on any of the defenses.
There are some items that we will be cleaning up in the off season but it did work.
As a matter of fact auto was better then telle-op.
https://github.com/WhitmoreLakeTroBo.../CMDdrive.java
https://github.com/WhitmoreLakeTroBo...tCaluator.java