Large robot jerks and runs slowly

[Russ76]

Juan: Testing the Linorobot2 software on my small robot inside the house was successful. Now I have set up the big, outdoor robot that weighs >50 Kg, and it jerks and won't run smoothly or quickly. I've tried adjusting the PID values up, but then a motor hung up with a fierce vibration and I had to hit the e-stop! Adjusting the PID values down doesn't help the jerking. I'm using the BTS motor drivers, Jammy and Humble. It has 24V power to the big motors, and separate LiPo batteries for the computer (Ryzen 7) and USB hub. Should I include my config.h file for you? Thanks for your great software package!