[MAldridge]

I just got finished putting in PID VI's into a loop in the periodic tasks VI. I am feeding the PID with global variables so that PID can be used in autonomous as well as teleop.

When I enable, I get a string of error messages that tell me that my code isn't running fast enough and that the RobotDrive VI is not being updated enough! I need to use PID because the robot doesn't drive straight. I figured that the closed-loopedness of PID would alleviate these problems, not add to them!

Simplified: How do I make PID work so that the wheels are driven at the speeds they should be and make the safety thread happy as well.