[Captain Planet]

Thank you to the people who have posted, I will try your suggestions as soon as I can. However, it seems there is some disagreement, so I'll pose a more specific question. If am I to use a PID loop to control the angle of our shooting arm, should I get the rate output or the distance output from the encoder? As I understand it, the rate becomes 0 as soon as the motor stops moving, so I'm uncertain as to how I'd implement moving the arm to a specific angular position with it.