[Cinnamon Toast]

I'll take a look at re doing the PI class in the mean time. I don't need the D variable as the shooter articulation and gearing is heavy enough that I don't need the ramp down of velocity of angle change for my shooter. P will get it within range of my target setpoint, and I will eat up the remaining error so that I just don't sit under my setpoint with stall torque. Also, the PIloop does nothing to control the flywheels. The flywheels are simply the shooter wheels that will spin up to 100% and give the boulder velocity when they exit the shooter. I am however passing control of the shooter angle over to just a joystick when no buttons are pressed. Again, if I write a dummy P loop in one of the methods checking the button press, it acts just like i want it to. It's only when I use a function from the PILoop class that things don't work.