[MrRoboSteve]

The Robodox paper proposes implementing a PIDSource subclass (RPMSource) that wraps an RPM value, which is the wired to the WPILib PIDController. On each turn of the Execute() crank in our command, we take the elapsed time and change in encoder count to calculate an RPM value, which is fed into the RPMSource instance.

apalard -- it does look like we're not too far from doing all of the calculations ourselves, so we will probably give that a try if the build-in controller fails us. One item that hasn't been obvious is how far back in time to accumulate errors.