Hey There!
I encountered a problem with the robot when using PROS, were the chassis would spin uncontrollably. I was using EZ template, and the chassis.set_drive_pid command to have the robot do different functions.
However, I also believed this was a problem with my code. So I downloaded the EZ template Example, and plugged in the ports and the gear ratio/IMU into the template and got to work tuning. After a short while, the same issue occurred. After testing to change the PID values in the default constants portion, the robot would go forward slower (as I had made the PID numbers smaller) and then continue to spin at the same speed.
I can send code/videos if needed, and thanks!