[Tommy.Brown]

When manipulating your PID values on your robot, the I value will generally be a very low number (or at least it was for our robot). You will want to change the P and D values, changing the I value slightly will make a big change in your robot. Also, make small changes to each value and test that value, doing a large change in value will not be good. I have personally seen our arm crash down and smash our pneumatic board and break a few solenoids.