[techkid86]

On second thought, we are having issues implementing one of the methods you recommended earlier. We have decided to use the

Output= Output +...

method, but out issue is, how do we get the value of the PIDControllor without setting a PIDOutput? could we just make an output object, feed it to the controller, and further ignore it?

Jaguar leftJ=new Jaguar(1,1);
Encoder leftE= new Encoder(1,1,1,2);
PIDOutput myoutput;
PIDController leftController= new PIDController(P,I,D, leftE, myoutput);

double speed=0;

{
speed=speed+ leftController.get();
leftJ.set(speed);
}


excluding ofcourse some details, but this is the general idea.