[Patrick Chiang]

You seem to be a bit confused about what PID does.

A PID control loop tries to make the jaguars go a certain speed. For example, if you set it to make the motor spin at 1600RPM, that's not going to make the motor actually spin at 1600RPM (due to the fact that we do not live in a frictionless, air resistance-less, ideal world).

What the PID does is it takes the current speed, and tries to make the jaguars reach what YOU want it to be. So, there will be problems with overshooting, undershooting...etc unless you adjust the PID values.

To tune the PID values, I suggest looking into using BDC-Comm. That's what we're using to tune ours.

On an off-note: Primary mission of FIRST = For Inspiration and Recognition of Science and Tech. Education is a convenient biproduct of that. Or something like that. Hey, give me credit for sitting through Dean's entire speech.