# Oscillations after rotating

**URL:** <https://xrp.discourse.group/t/oscillations-after-rotating/194>\
**Category:** Python programming\
**Created:** [December 14, 2023, 1:43pm UTC](https://xrp.discourse.group/t/oscillations-after-rotating/194 "2023-12-14T13:43:00Z")\
**Posts on this page:** 1\
**Showing post:** 7

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**Author:** ![Debbie386](https://avatars.discourse-cdn.com/v4/letter/d/50afbb/32.png) [@Debbie386](https://xrp.discourse.group/u/Debbie386)\
**Post date:** [January 10, 2024, 5:34pm UTC](https://xrp.discourse.group/t/oscillations-after-rotating/194/7 "2024-01-10T17:34:24Z")

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I’m seeing the same jittery problem today. I just reloaded the python dev environment  
(switching back from the WPI/Java environment using [this](https://xrp.discourse.group/t/revert-xrp-back-to-factory-settings/127/2) method) and the section of differential\_drive quoted above looks like:

```auto
        if main_controller is None:
            main_controller = PID(
                kp = 0.1,
                ki = 0.04,
                kd = 0.04,
                min_output = 0.3,
                max_output = max_effort,
                max_integral = 10,
                tolerance = 0.25,
                tolerance_count = 3,
            )

```

And that’s completely different from what’s in the file linked above.  
Did I end up with the wrong version of the library?

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