There are no PIDs in our code. It's only 4 TalonSRX, a robotdrive, a Gyro (disabled I think, need to check with my programming captain) and joystick. I saw 1452-Leo's solution here:
http://www.chiefdelphi.com/forums/sh...5&postcount=20
and I'm thinking that's the way to go. Our electrical team has our test base disassembled at the moment, I'll have to try this tomorrow.