I’m using one of the 4-wheel skid steer robotics kits. I added a kangaroo so that I can get encoder feedback. The robots about 60lbs right now. When I set the robot on the ground and run the autotune sequence it works fine until the turning part, and then it always fails with Error 3 “Control Error. The system either lost control, failed to move or can’t stop”. I think its because the current needed to turn is large and it quickly exceeds some software limit in the autotune sequence. So it thinks it cant move even though it can. Any advice on how I can fix this issue?