[Kevin Sevcik]

So here's a stripped down version of our robot code with just the lift stuff and the rate controlled PID that I worked up.

There's some features I added to the PID class that may not be relevant to your system. I added a Kv term for velocity feedforward based on whatever your ramp rate is. There's also limit switches integrated in there so the PID stops if a limit is hit in the direction you're moving. It both prohibits motor command in that direction, and updates the target setpoint to whatever the current position is when you run into a limit. If you're not using limits, just leave those blank or set to NULL and that logic will be skipped. To accommodate different wiring practices, the bool limitHit parameter sets what value indicates that a limit has been hit/tripped. There's a few others as well, so ask if there's any confusion