First of all @anon4126930 thank you so much for this Tutorial it helped me a lot because I am kind of new to all these PID stuff, however I had a small question left after your tutorial. So, in my autonomous I’m trying the take in the 4 horizontal cubes near the smaller goal zone, and in order to do so, I need to turn both my intake motors. How can I turn the intake motors simultaneously to the driving PID.