Okapilib Drive to Point

Programming Support
1

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.

2

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

3

Here are a few resources:

https://vexwiki.org/programming/controls_algorithms/pid

Designing a PID Controller Using the Ziegler-Nichols Method - YouTube (30 minutes)

What Is PID Control? | Understanding PID Control, Part 1 - YouTube (10 minutes)

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