pic: Things you couldn't do again if you tried

[PAR_WIG1350]

Originally Posted by adciv

But related to PIDs... This year we had a 6 pneumatic wheel tank drive. We were tuning the PID and the robot started oscillating back and forth, and due to some of the motions, started walking side ways. We've got those PID values saved and would try it out more if it weren't so hard on the drive train.

Sounds like your Z-domain poles escaped from the unit circle. If it weren't for the limits imposed by the motors, the controllers, and the battery, it would probably be even more violent.