[aeastet]

Posting your code would make it easier to help or at least a picture of the area you are talking about.

Normally you do not stop a PID that is running the motor for RPM. That is the purpose of the PID to get the motor to the proper RPM and them maintain it.

Unless we know what you are doing in your code it would be difficult to tell you how to do what you are trying to accomplish.

Tim