I made a PID loop with a sort of straight line assist and I don't know if I did it right

[mvas]

@theol0403

Straight-line assist is common in most of the chassis PIDs I’ve seen made from more experienced programmers. If you look on github (okapi, tabor’s , etc) you can find many people use it.

This is a really good example of what I was referring to by combining PID controllers