I remember our software team made a "teach-able" ARM and WRIST on our 2011 robot. You would jog the robot to a position, then rotate a KEY that was the "teach mode". Then you pressed the button you wanted to assign those values too. And the crio wrote to a txt file the pre-sets.
Then the pre-sets where loaded into the Labview PID. It wasn't very accurate, but it worked good enough to place tubes on a pipe.
Here is the 2011 robot code:
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