our root shakes for short period of time within the turns and stops (after doing the turns and stops) if you want I can send you the code
What is your KP value?
The KP is the correction value. If its to much, it’ll shake way to much but if its to low it wont correct itself enough.
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its 0 .d (kd and kı both 0 too)
Oh 0 means there basically no self correction you should probably tune it
If kp, ki, and kd are all 0, the robot should be stationary regardless of how far it is or how close to the target.
you should check out the george gilliard doc. very helpful for pid and tuning
Remember to tune your ks one at a time! also check that you have the correct drivetrain ratio. I lost 1.5 months on that.