[Ether]

While you are waiting for responses, here are some links where you might find useful information:

https://www.google.com/?gws_rd=ssl#q....com+%22PID%22

http://www.ni.com/white-paper/3782/en/

http://www.chiefdelphi.com/forums/sh...45&postcount=6

http://brettbeauregard.com/blog/2011...-introduction/

https://decibel.ni.com/content/servl...20Tutorial.pdf

http://www.controlguru.com/pages/table.html

http://www.inpharmix.com/jps/PID_Con...ms_Robots.html

http://www.chiefdelphi.com/forums/sh...2&postcount=12

http://brettbeauregard.com/blog/2011...-introduction/

http://www.education.rec.ri.cmu.edu/...edmovement.pdf

If you would give some details about what you are seeking to control with PID you will likely get more targeted answers here. For example, you mentioned the gyro. Are you trying to do field-centric control? Or are you trying the correct for drivetrain anomalies to make the bot travel in a straight line? etc.