Currently i have a drive function which consists of 3 PID loops, one for x, one for y and one for orientation. (i also have position tracking). But even after having 3 PID loops, i am still having trouble getting the strafing to be clean, By that I mean, for it to be strafing smoothly and in a straight line. And i know it isnt a build problem since it strafes in a smooth line in opcontrol.
So does anyone have any ideas and or suggestions for me to make my strafing as clean and accurate as possible?