[Kevin Sevcik]

We're using a very slightly modified version of the PIDController class quite successfully for speed control on 3 shooter wheels. The only modification is to change the integral anti-windup measures to work slightly differently. We're using P, I, and FF terms and it's working well. A velocity PID like you're using is technically more correct, but whatever works.

What kind of crashes were you getting with the OnTarget method? We're using that to determine when to exit the shooter speed setting command, so it's getting called every teleop loop, and we haven't had any problems.