PID values work a few times and then goes unstable

We are working with the wpilib PIDController library. We have working / stable system using one set of PID values, but a few minutes without changing the mechanics, the same PID values are producing unstable results. Has any experience this before?

The NEO is not mounted and has no load when we are testing.

Tuning an unloaded motor is going to be very difficult. It is very hard to control a system whose dynamics occur on shorter timescales than the loop period.

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Might wanna look into using on-motor PID

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