[ekapalka]

...that sounds like bad news for my pre-season programming project... I've been working on creating my own PID library to use for concurrently maintaining and changing the speed of the mecanum wheels on our practice drive-train during teleop, but based on what you're saying, constantly changing the setpoint won't work... (It was the original intention of the library, but if it fails (which it looks like it should), it hasn't necessarily outlived it's functionality :D From what I hear, PID loops have lots of other potential uses).