[drakesword]

I have noticed that with position control that PID works correctly. When using speed on the other hand it isn't quite where it should be. Maybe the PID in the speed loop isnt looking at speed properly . . . meh.

Our solution was to tune the loop to be "quiet" as in no chatter on the drive train at low and high speeds. In the robot code once output stabilized we calculated the error and just increased our set-point by the same percentage.

Eventually we got the output we wanted . . . eventually.