I am wondering if the inputs into the PID SubVI need to be scaled in order to match the output. Can you simply, for example, have a process value that is an angle measure (using an encoder) and a setpoint that is an angle measure and have the control output a value that controls the motor speed, in which case the control accounts for the change in angle based on adjusting the motor speed. The output range also being -1 to 1 to match the motor.
I'd imagine in this case a small proportional gain would be needed since the error in the angle in degrees may be quite large and a small change in the motor speed accounts for a large change in the angle.
Something like:
****The encoder distance will be changed into an angle like in the example motor with encoder vi
Thank you