Okapilib Drive to Point

This is the first time that I have started using okapilib. I set up three-wheel tracking with odometry, and when I use driveToPoint it goes to the correct spot and jiggles around it for a bit before it stops. Does anyone know how to fix this? I feel like it has to do with the PID.

I know it has to do with the withGains, but how do I figure out what those numbers are?

Here are a few resources:


https://www.youtube.com/watch?v=n829SwSUZ_c (30 minutes)

https://www.youtube.com/watch?v=wkfEZmsQqiA (10 minutes)