V5 X Drive PID Turning

Hey all, I’m new to doing PID and I need some help with code. I have an X drive base, and was wondering if I could get some help laying down the code for PID turning. I plan to use my odom tracking wheels for PID values, if that isn’t going to work for whatever reason, let me know. Thanks!

Please use the search bar. There are multiple PID tutorials on the forums.

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