[Tom Bottiglieri]

We did something cool with our PID stuff this year. We wanted to get an OOP type feel, but we're forced to use the next best thing, structures and private functions.

It pretty much consisted of making a PID structure which contained everything we needed to know about the system (gains, integral bounds, etc.). We would make a new instance of that structure, and pass a pointer of that struct into different functions to set the gains and compute the output values. I believe this is what Uberbots did.