[JamesBrown]

I am going to have to agree with Mike on this one, PID (or even PD) is a bit much, especially since he said he wasn't a programmer. Now before you tell me how much better off you are with PID think about how long it takes for you to tune your loops, now realize that he doesn't have the robot, probably until competition. There is almost no chance that he will be able to get the robot to himself for long enough to get every thing working, especially with it being his first try.

I would reccomend using a pot instead of an encoder, they are much easier to work with.