[Rick TYler]

Originally Posted by Denz

Yes, the only problem is, when lining up the robot overshoots sometimes, and it kind of moves back and forth. This I am told is a PID problem, not sure what that means, and I'm a rookie programmer.

Oh, man, that hurts. The student head of software wrote a PID controller for the aiming process. Before that, ours hunted back and forth, too (tested on Wooden Thunder, we've never run the code on Top Gun. PID is hard -- it might take too long at this point, and if you don't have a really good mentor it might be impossible. John did test a PID-less version that worked pretty well, but it was S - L - O - W. Good luck.