[apples000]

You can make a simple velocity control by integrating the output of the pid loop. As Ether has said before, if you have JUST an I gain, the pid loop will be able to maintain the right speed. But with the Java implementation of PID, the whole output is multiplied by P. So, when you make p 0, the output will be zero and without modifying the code, you'll never get just an I gain. So, if you just add the error to the current speed, it will integrate the output. On our robot, our shooter wheel will not work with a normal pid control. In order to make the pid loop work with velocity, you must integrate the output. Other software I've used has separate functions for positional/velocity pid.