[Caboose]

Right now I'm just setting the kSpeed or kPosition on start-up and sticking with it for the rest of the code. I did graph the Speed from the motors when in kSpeed and what happend was the motors would get up near the speed i would want then would drop to a really low RPM, some times even in the opposite direction, then jump back up past the speed only to drop again. I could post a graph later today if it would help you or anyone understand what I'm seeing.