Hardware:
-The claw put pressure on one motor making it force itself to move faster making sharper turns.
Solution: Testing how much I had to decrease the turn angle to get the turn I wanted.
Software:
-I didn't know whether decreasing a K value or increasing one would benefit my bot even after testing.
Solution: Displaying variable values to see which changes make positive changes on the variables.
-Debugging was difficult because of a lot of code without any simple behaviors.
Solution: Testing main parts of the program individually and turning them into functions when they are working.