[martin417]

I do not understand why FRC programmers always want a full PID for every control application. In almost every case, a simple proportional control is more than sufficient. and often even that is overkill. For speed control, a digital or "bang-bang" control works quite well, and for aiming, a proportional algorithm is almost always good enough.

What we have done for aiming is to set the motor speed proportional to error, with the gain set so that when we get very close, the motor output is still being driven, but at a value so low that the motor doesn't actually move any more. The only thing you have to tune is proportional gain. It is quite easy to tune that with trial and error.