Using PID in autonomous to keep straight

[rich2202]

Here is the problem:

PID presumes continuous measurements. If you are crossing the low bar with no jerky movements, then PID works ok for driving straight (our robot drives like a slightly drunken sailor).

Over the other Defenses, the jerkiness throws off PID. You will eventually head in the right direction (gyro), but you may be off track to the left/right.