Creating more stable towers

My team can successfully stack 7 cubes into a tower, but they can get very unstable. Has anyone found a way to keep the tower stable while pushing it off of the tray? Thank you in advance!

Try using a P loop for your tray so it slows down as it stacks

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P loop? can you provide more details?

What @33691A-Gold_Dusk meant was to use “P” part of the custom PID control loop compared to V5 motor built-in PID feature.

@Connor recently created PID tutorial video for V5 that you may find helpful: VEXCode PID Tutorial

Also if you search for tray PID there will be some good results and discussion.