[tr6scott]

I would suggest you pick up 4 SRX controllers and a couple of the encoder and analog break out boards and work with the SRX PID over the off season.

The control provided with running the pid on the controller, is just fantastic, but there is some learning curve, and it is good to get that behind you.

You don't have use them for every motor, but when you want/need accurate control on positioning arms, or velocity on the shooter wheels, it is worth the extra dollars.

We have 4 of them on this years bot, 2 shooter wheels, shooter angle, and "wonder arm" angle. We actively switch between position mode and normal vbuss modes for coast down cool down events. We still use the Victor SR, for driveline, ball harvester, climber, climber deployment, as we like the form factor, and we actually have them mounted on top of each other, as the bot continually seemed to grow motors when mechanical team was making improvements.