@Ozrien, one of the students at the school would like to see me show up during this week so I might try to see if I can grab a few videos of the shooter specifically. Preferably when the shooter under-shoots, but I'm unaware of the entire situation. I'm aware that there has been shooter-related issues, I'm aware that we never tuned for an F-term, I'm also aware that the P term shoots up our overshoot to setpoint + offset where the offset is the height of the oscillation within the 5-10 seconds where the shooter is active. If I can, I may also try to record the data output from our encoder on the output shaft no real big deal if I cannot get all of the data that should be needed..