PID or auto correcting turn system help

[xTigr]

Here is a document by George Gillard that goes over the basics of a PID control loop with pseudocode

Documents

And here is an example P loop in vexcode c++

How to write code to accelerate and decelerate drive train code for autonomous

It’s probably best to make a separate function for the PID that you can call whenever you want. This way you can just pass the targetPos as a parameter to the function. void drivePID(double targetPos){ //this is a constant that you will need to tune double kP = 0.1; //error is just the difference between target and current pos //here I am just getting it from the front left motor, but it doesn't really matter which one you use double error = targetPos - FrontLeft.position(deg); //…