[tomy]

Originally Posted by GeeTwo

Once you have it in a loop, you'd probably do much better not to be constantly resetting the PID parameters while it's enabled. I'd try something more like:

                    switch (step){
			case 1:
				pid.SetTolerance(.1);
				pid.SetOutputRange(-.5, .5);
				pid.SetSetpoint(497);
				pid.Enable();
                                step++;
				break;

			case 2:
				if(pid.OnTarget()){
					step++;
				}
				break;

			case 3:
                                pid.Disable();
				pid.SetTolerance(.1);
				pid.SetOutputRange(-.25, .25);
				pid.SetSetpoint(800);
				pid.Enable();
                                step++;
				break;

			case 4:
				if(pid.OnTarget()){
					step++;
				}
				break;

			default:
				break;
		}

Or, for brevity at the cost of readability, you could remove the case 4 block and move the case 4 statement up next to the case 2 statement, or remove case 4 entirely and never disable the PID in autonomous if you want to leave it on until the end; in this case, you should put the disable outside the loop.

When I ran that code it went into the first case statement got to the target then stopped. It doesn't seem to want to go into the second case statement.