[baop858]

No pid yet, I do plan on implementing one though. I don't know about using a gyro for control, I would have to think that one though. We were going about 40% full speed. It was unstable because of the lack pid on the steering. But has anyone notice that the victor are uneven, like in one direction there's slightly less power than if it was going in the other direction with the same amount of difference from neutral, 127.

Edit: I just realized I could use the gyro to keep it going parallel with the length of the field. Thanks for the idea Q.