[riftware]

As for the self-test and PID things - I had already verified the encoder position is increasing when the talon flashes green so we're good there. The pid values were just ones that were in example earlier in the thread. Honestly I have a bit of a mental block on PID. I must have read the tutorials a dozen times. I'll take a look at it in just a moment. Thankfully I've got my first decent stretch of time with a test rig of my own so I can use my usual tactic of sheer stubbornness to get this down pat. Thanks for all the help everyone.