Problems with using 330's goal tracking code

[windell747]

Hi, We took team 330's goal tracking code and made modifications so that the X axis output would be to control a victor for a turret. We pretty much just removed the Y-axis PID control loop and are using only the X-axis PID control loop for control the position of a turret. When we run the code, the bot finds the target and oscillates left and right. I increased the integral gain to reduce the steady state error, but there was no improvement. I also tried playing around with the proportional and derivative gains, but there was also no improvement.

Has anyone attempted what I'm doing and might know the source of my problem?

I attached two screenshots of my code for reference. As an incentive, feel free to use my ideas for your bot as well if you feel that they are useful to you. All the credit should go to team 330 though!