Path planner with Swerve / Orientation Issues

FIRST
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1

Hey guys, we are testing our auto using Path Planner. It starts off right, but for some reason, it ends up facing the wrong way. We have tried switching the goal end state angle and it just makes it worse. Any help is appreciated. Here is a video of what it does and a picture of what the path is:

Thanks.

2

It might help if you describe what you expect it to do. You did a good job showing what it actually does.

3

Hey so it was over turning because of our PID values.

But we go that fixed thanks.