[reversed_rocker]

when we built our crab drive, one problem we had was that the motor would over shoot the intended position, then try to swing back, and the process repeats.

we multiplied the difference between the wheels position and the intended position (the value read from the controller, translated to the same value range as the wheel position) by a constant less than 1 (ours ended up being around .57, but this is something you can define at the top of your code and mess around with) this way your wheels slow down as they approach the intended destination.

how did you solve the problem? maybe we could trade some code