Hi, PID is a great tool, I understand you are using jaguars, you may want to hook the encoders directly into the DSC, When in java use the encoder as a PID source and then start tuning your variables. We have had issues in the past with jaguars we no longer use them.
Above robot init
Code:
Victor motor;
Encoder encoder;
PIDController pid;
In your robot init
Code:
motor = new Victor(1); # or jaguar
encoder = new Encoder(1,2); # A channel B channel
enncoder.setPIDSourceParameter(Encoder.PIDSourceParameter.kDistance);
PID = new PIDController(0.01,0,0.01,encoder,motor);
In teleop ECT
Code:
PID.enable();
PID.setSetpoint(10.0);
Hope this helps, Please don't hesitate to PM me if you need anything,
-Matt