We’re new to coding and looking for an accurate autonomous and found PID. However, we didn’t know how to use vexcode text efficiently, because none of us have coded in text form before. Therefore, we decided to try to create a basic PI (yes PI not PID) loop with vex IQ code blocks. At the moment we’re just doing it for accurate turns, because we can configure the motors into a drivetrain instead of configuring the motors seperately for this (we think?). Anyways, we were having trouble with it. First, when we try to turn instead of just turning on the spot it moves forward and left, while turning at the same time. We know that this has something to do with our velocity block underneath the turnpid broadcast, we’re just not sure why the velocity is changing how the robot turns. Second, the robot will turn so that error gets to 0, but then the error gradually increases until it starts skyrocketing well into the hundreds. Again, not sure why this is happening. Here is our code, hopefully somebody can help. Thanks
P.S. what’s the difference between drive-heading and drive rotation?