Hi! We just recently decided to start using EZ template’s PID for our autonomous. However, the robot just twitches a little bit then moves onto the next command in the autonomous sequence. I’ve played a little with the constants, but haven’t seen a lot of changes from that. I tried setting the target way high to see if it was a scalar problem, with no avail. I also attempted changing the exit conditions, but that didn’t work. It seems to have the problem with both straight driving and turning. I will attached my CPP as soon as the forum lets me. Any help would be greatly appreciated.