In that case, you have to know what are you trying to say, and to learn a thing or two about it.

It is id-, not **ide.
The stem form id- results from a reanalysis of the 2sg. imperative idi < *h₁i-dh-oih₁s, cf. Skt. ihí 2sg. imper. ‘go’, Gk. ˆ–ἶθι 2sg. imper. ‘go’. The original ending was transformed under the influence of the optative ending *-oih₁s.

The werb 'ići' has nothing to do with the word 'hajde'. The latter was borrowed from Turkish language, there was no such word in Old Serbian or Old Church Slavonic language.