[Kingofl337]

You really should use the PIDController, it makes it's own task and everything.
All you need is...

AnalogChannel armtiltpot = new AnalogChannel(4);
Jaguar armtilt = new Jaguar(4);

//P I D input output update_rate
PIDController armtiltcontroller = new PIDController(5, 0, 0, armtiltpot, armtilt, .005);

armtiltcontroller.setEnabled();

Then call: armtiltcontroller.setSetpoint(2.5); to change the setpoint.


Based on what I'm seeing it looks like you code should work.