[10intheCrunch]

Integral windup can definately become a problem if you leave your robot on, and something that is connected to your PID loop sensor moves (when the RC is on but the robot is powerless to do anything about it, it will build the integral uselessly, until reactivation when people get hurt). We struggled for a while trying to get the RC to realize when the OI was on or off, but if you can manage to reset everything when the OI comes on (not just resetting the RC), that's a good way to go. You can also limit your integral, as this will help you if you ever get stuck on something during real testing (you won't break your motors). If you don't have a failsafe implemented though, make sure to reset your robot every time before turning your OI back on!