Have you ever asked yourself, "Man, I really like Eqwetox from last years Robotiscz, I wish they made a PID Guide for my very bad and poopy team" Here you go little boy

note: this will not go over any math and other bull shit because thats hard mangos to fit in this stupid blog post

Step 1: Set up

Read your template's docs and set it up properly. If you don't do this, you will suffer. If you don't use a template, consider using one because I know your ass isn't coding a whole VEX template in the big 2025 😭🙏

Step 2: Binary Search

Binary search is good because it makes tuning PID less ✡
The premise is you have a set value (lets say 5) and a change value (which is the same as the set value so also 5). Depending if it overshoots or undershoots, you divide the changing value by 2 and you add or substract it by your set value.

So it gonna look something like this:
Set value is 5, changing value is 5.
Robot doesn't oscillate, add the set value by the changing value (new set value is 10)
Robot oscillates, substract the set value by the changing value divided by 2. (So 10 - 2.5 = 7.5)
Robot doesn't oscillate, add the set value by the changing value divided by 2. (So 7.5 + 1.25 = 8.75)

Do this a bunch of times. If you don't rlly understand it its fine if you cant handle the heat stay out of the kitchen or something

Step 3: kP

kP is what makes your robot move forward a lot. So the higher it is the faster it goes (which is very good). Now a good boy would say increase it until it oscillates (aka goes back and forth), but the devil on ur shoulder (me) says increase it until it oscillates like 2 times so do that

Step 4: kD

kD is what makes ur bot slow down when it reaching where it wanna go. Higher = harsher stops. U increase it til it stop oscillating (goes back and forth) Pretty easy mangoes so far right

Step 5: kI and anti wind up

kinda rare that u tune this, only needed when ur bot is overshooting or undershooting
find antiwindup by taking how much it overshoots and adding 50%
then for kI you keep increasing it until it starts oscillatting
then ur kinda done

Step 6: Oh no!!!! Our mangoes is broken!!!

If yo PID is like kinda unstable you probably gotta max the accelleration cuz u got a weird build
U could also have poopy motor friction
If still bad, redo it with less kP.
If still bad after that, Quit and do professional jewish braiding instead because your robot is haunted with bad jewish demons.

Jewish braiding for motivation