[therealman1]

Have you looked at the output of the encoder and is it sufficiently noise free and accurate?
it is not noise free. that is the main problem.

What device is the PID controlling?
shooter drive motors. two jags, connected by a splitter cable

Is the PID in cRIO or a Jaguar?
cRIO

Speed, linear position, or angle?
speed

What scaling are you using for the setpoint and process variable?
all parts are -1-1

What encoder part number?
E4P

4x 2x or 1x ?
4x

What are your P, I, and D gains?
we are setting them. we varry p, while i and d remain at 0

etc etc etc
anything else?