Can someone tell me who I can talk to if I find an issue or bug in the WPI library code?
The issue is in PIDController.cpp line 117 (in the version that has been released to the public). How can I get latest version of this file?
I have details of the issue, along with the fix here
http://www.termstech.com/articles/PID_Kalman.html
But in short the symptom is a case where if the error is too large it is possible that the total error will cease to move in the opposite direction causing the robot to lock up. The fix I offer will address this case.