I am fairly aware of your point that you made in the other thread Alan, however, the team that I was on saw no error correction prior to the Integral calculation. I don't know if that means that it was clearly tuned wrong or what, but that does certainly force an issue upon accuracy. Applying that specific PID to the shooter, which never corrects to get onto the set point, adding in a human-dependent interaction could create a larger issue. However, as Thad had mentioned yesterday, there could be a check that may prevent the issue.