I recently made this PID code, but it is not oscillating, instead it is overshooting and exiting the loop. Any solutions

```
double error, integral, derivative, power, lastError;
double Kp = 0.9;
double Ki = 0.12;
double Kd = 1.5;
error = target - inertial.get_heading();
while (abs(error) > 1) {
error = target - inertial.get_heading();
if(error < 30){
integral += error;
}
if (integral > 1000) {
integral = 1000;
}
if (integral < -1000) {
integral = -1000;
}
derivative = error - lastError;
lastError = error;
power = Kp*error + Ki*integral + Kd*derivative;
pros::lcd::print(2, "%f", power);
drivetrainR.move(power);
drivetrainRB.move(power*-1);
drivetrainRF.move(power);
drivetrainL.move(power);
drivetrainLB.move(power*-1);
drivetrainLF.move(power);
pros::lcd::print(1, "%f", inertial.get_heading());
pros::delay(20);
}
drivetrainR.brake();
drivetrainRB.brake();
drivetrainRF.brake();
drivetrainL.brake();
drivetrainLB.brake();
drivetrainLF.brake();
```