After a few tries of my autosteer, I have a lot of trouble to reach good settings to follow the line. ca derive and corrects too late, or so it zigzag violently .... I have a steerpointzero very good, however, count by degree defined by steer wizard, very stable angle sensor, stable mma ... No hardware problem. But if anyone could give me a description of the method to use for PID setup and steer ... I would like to take a look at it from here, but my english is not good enough to understand everything orally. But if someone very nice could write such a description, I will have no difficulty in translating it into French. So please help me .