PID and Odom issues when turning

Programming Support
#1

Currently I am working with Odometry and a PID, which work great going forward. It goes the distance I set it to, but then we I set it to turn, it turns for infinity and can’t seem to recognize what the problem is.
I am using one odom wheel for sideways movement, and then the internal encoders for the forward movement. I put the code down below.

CustomOdomerty.cpp

std::valarray<double> CustomOdometry::getSensorVals() // returns new sensor values
{
    return {meS.get(), (def::mtr_dt_right_front.getPosition())* def::DRIVE_DEG_TO_IN,
            ((isinf(mimu1.get_rotation()) ? 0 : mimu1.get_rotation()) +
             (isinf(mimu2.get_rotation()) ? 0 : mimu2.get_rotation())) *
                M_PI / -360};
}

Drivetrain.cpp

void Drivetrain::turnToAngle(QAngle iangle, std::vector<AsyncAction> iactions, PID ipid)
{
    enable(); // make sure the action can run
    while (menabled && !ipid.isSettled())
    {
        double angleError = util::wrapDeg180((iangle - Drivetrain::getTheta()).convert(degree)); // calculates the angle the robot needs to turn

        Drivetrain::moveArcade(0, -ipid.iterate(angleError), false);
        // std::cout << "in angle loop. Error: " << angleError << "     use: " << counter << std::endl;
        pros::delay(20);
    }
    Drivetrain::moveArcade(0, 0, false);
    def::controller.rumble("-");
}