[sircedric4]

After trying to figure out the problem for a week, we have just decided to put the encoders that come in the kit of parts on a jackshaft from the shooter wheel and use our PID code from last year's robot as an example which will hopefully work.

We'll be changing the PIDSource from GetDistance to GetRate and then hopefully we can set our PIDSet to a number and the PIDController will be able to get there after tweaking P and I.

Are there any particular pitfalls or problems that teams have run into when PID'ing to rate versus PID'ing to distance?

We really are clueless on how to get the WPILib stuff to work for us on anything that doesn't have an example to learn from, so we are hoping the code we finally got working last year will be good enough. Does anyone have any code from traction control during Lunacy they would be willing to share? I assume that was PID to speed and would be very helpful.

Thanks.

Editing to add that we are using Victors, and have no plans to even try and conquer the Jaguar CAN bus and all that jazz.