[jwakeman]

I don't have the code in front of me right now but i think i ended up using this:

float PIDController::GetError() 
{
   float error;
   CRITICAL_REGION(m_semaphore)
   {
      error = m_setpoint - pidInput->PIDGet();
   }END_REGION;
}
return error;

Also in the OnTarget() method I do the same calculation to get the error instead of calling GetError().

Even with this updated implementation of GetError() I also learned last night not to call GetError() within PIDWrite().