[computerish]

Thanks! That got our speed working.

But our PID isn't working. We tuned it in BDC-COMM and found that P = 0.5, I = 0.005, and D = 0.0 work fairly well. Using these same constants in code, though, results in the motor jerking forward and backwards rapidly, making an awful noise.

It looks like a PID tuning issue, but we tuned it in BDC-COMM.... Any ideas?

Thanks!