Robot Autonomous forward command

[EpicPi]

then robot will end parallel to its start position but will not travel in a straight line.

[TheBassett]

Is this an issue?

[destrucules]

Yes, it is. Thank you Piyush

So with normal dx PID, it would do these kind of swing things. Makes sense

So every time there's a disruption and we fix it, why not record the discrepancies within that period and mirror them:

Left side moves farther than right (4s)
Right side moves more to correct (4s)
Right side moves more to correct for side-to-side movement (4s)
Left side moves more to correct (4s)

Make-a the sense?