Why is my PID not working?

Programming Support VEXcode IQ Technical Support
1 
// User defined function
void myblockfunction_drive_heading_x_v_kp(double myblockfunction_drive_heading_x_v_kp__heading, double myblockfunction_drive_heading_x_v_kp__x, double myblockfunction_drive_heading_x_v_kp__v, double myblockfunction_drive_heading_x_v_kp__kp);

float myVariable, error, output_velocity;

// User defined function
void myblockfunction_drive_heading_x_v_kp(double myblockfunction_drive_heading_x_v_kp__heading, double myblockfunction_drive_heading_x_v_kp__x, double myblockfunction_drive_heading_x_v_kp__v, double myblockfunction_drive_heading_x_v_kp__kp) {
  leftmotor.setPosition(0.0, degrees);
  rightmotor.setPosition(0.0, degrees);
  if (myblockfunction_drive_heading_x_v_kp__v > 0.0) {
    while ((leftmotor.position(degrees) < myblockfunction_drive_heading_x_v_kp__x)) {
      error = myblockfunction_drive_heading_x_v_kp__heading - BrainInertial.heading();
      output_velocity = error * myblockfunction_drive_heading_x_v_kp__kp;
      leftmotor.setVelocity((myblockfunction_drive_heading_x_v_kp__v - output_velocity), percent);
      rightmotor.setVelocity((myblockfunction_drive_heading_x_v_kp__v + output_velocity), percent);
      leftmotor.spin(forward);
      rightmotor.spin(forward);
    wait(20, msec);
    }
  }
  else {
    while ((leftmotor.position(degrees) > myblockfunction_drive_heading_x_v_kp__x)) {
      error = myblockfunction_drive_heading_x_v_kp__heading - BrainInertial.heading();
      output_velocity = error * myblockfunction_drive_heading_x_v_kp__kp;
      leftmotor.setVelocity((myblockfunction_drive_heading_x_v_kp__v - output_velocity), percent);
      rightmotor.setVelocity((myblockfunction_drive_heading_x_v_kp__v + output_velocity), percent);
      leftmotor.spin(forward);
      rightmotor.spin(forward);
    wait(20, msec);
    }
  }
  leftmotor.stop();
  rightmotor.stop();
}

// "when started" hat block
int whenStarted1() {
  leftmotor.setStopping(brake);
  rightmotor.setStopping(brake);
  BrainInertial.calibrate();
  while (BrainInertial.isCalibrating()) { task::sleep(50); }
  myblockfunction_drive_heading_x_v_kp(90.0, 100.0, 70.0, 3.0);
  return 0;
}


int main() {
  // Initializing Robot Configuration. DO NOT REMOVE!
  vexcodeInit();

  whenStarted1();
}
2

Your code is not very readable. if you want help try to add comments, and spaces. It looks like you also switched it from a block program to C++, because as fat as I know no one calls a function 'myblockfunction_drivePheading_x_v_kp__kp" Programing it in block switch is easier at first. Actual help:

It looks like you are looking at “leftmotor position” not gyro, this would totaly mess it up. PID is based on Gyro’s not motor degrees.
2. You are defining a void function (No output parameters) but then trying to use a output parameter.
3. The last bit of your code is readable, but this is weird code. If you make it more readable, I might try and help more