[mark219]

I'm a little bit of a newbie at Java coding with FRC. I want to use PID as a part of my drive train and other precision parts of the robot, however I'm not sure of its application. I know that PID stands for proportion, integral, derivative, and have a basic understanding of integrals and derivatives (just started learning about integrals in calculus). Essentially, all I know about PID is that it is a way to minimize error, but the question I am asking is how does it work? Can you show an example of code? Is its only use for autonomous mode?