[baronep]

The reason I am asking is because I am trying to use a PID loop to run our flywheels (2 axles with 2 motors) at a desired setpoint (different setpoints). I can adjust Kp to about .01 to .02 to get a pretty good response but the value is often 100 rpm under my setpoint. How do I tune this???

My code is posted below. The tachometer is the retro-reflective sensors from last year reading four pieces of tape around the perimeter of the wheel.