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Originally Posted by gwross
Could this be the phenomenon we saw at kickoff? When Dave gave the 'bot a nudge and it corrected itself, it overshot before it settled at the target orientation.
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The effect seen at kickoff was the loop overshooting. This can come from either too large of an integral term or too large of a proportional term or some combination of the two. The problem with PID loops is that it can be tricky to get the behavior "just right" such that the loop doesn't oscillate, doesn't overshoot, and has a fast rise time all while dealing with varying external forces. Most likely the problem stemmed from the fact that when Dave kicked the robot, the angular velocity that it encountered was much higher than what the robot was capable of on its own, so the PID loop was not as well tuned for it as when it was driving under its own power.