Team 2168 just posted a video tutorial on how to tune PID gains... without using guess and check.
The method uses the modern control approach where you model your plant, simulate your controller, and design gains.
Its easy to do, and I believe it is explained in such a way that no prior control experience is needed.
The tutorial uses matlab and simulink (Industry defacto tools for control and filter design). If you don't have a license Math works provides free licenses to first teams - all you have to do is email them.
check out this thread:
http://www.chiefdelphi.com/forums/sh...d.php?t=100555
-Kevin