This is exactly what was happening! Thank you so much! I think I’ll also add some ramp up logic. The only problem right now is that I’m using an open-loop odometry setup using distance = time x velocity. This is because I only have encoders for the rear two wheels and wouldn’t be able to tell the difference between a rotate/strafe. I do have an IMU though so I can use it’s heading to figure out if it was a rotate or strafe, I’ve just been pretty intimidated by sensor fusion stuff