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Pickett --

See attached .vi I created which should do what you're looking for. Note that there are a lot of different ways to perform the same task in code, and the way I wrote this is just one example (the way I would write it).

First off, I am converting the voltage from your pot to an actual angle (by scaling against the min/max values). The output is a value of 0 to your turret limit. I like working with positive numbers rather than using "0" as a home position. Instead, 0 represents one limit, and the Range represents the other limit.

Then I check to see which buttons are being held down -- If button 4, set the setpoint to 0 deg. If button 5, set the setpoint to 180 deg. If button 6 ("home button"), set the setpoint to 90 deg. You would have to change these values based on your actual desired setpoints.

If no buttons are being pressed, the setpoint is your current position. That would tell the PID loop to stop moving the motor.

Remember to put all this within a loop, such as in Periodic Task (or Teleop)

Let me know if this helps...