[cad321]

To clarify the original post, we have been using a custom class for PID at the moment however were only using P and D. When we named it we just called it a PD Loop to avoid confusion amongst our team. At the moment we can make our robot drive a certain distance and stop, but that's it. We can make one clear movement such as drive forward 90inches however are struggling on how to write the logic to allow us to drive 90inches and when we have driven 90 inches, lower an arm (without saying wait X amount of time, then do such and such).

The reason we're using a custom class for our PID is because we have had issues in the past with the included libraries and have used our class without trouble before.

We can upload our code tomorrow once we have access to our robot/equipment again.