[CardcaptorRLH85]

Thank you for that advice. Now that I've actually had some sleep and food, I realize that it doesn't look quite as daunting as it did before. Also, I realize that I don't really need the velocity based PID in autonomous mode. Having the PID's in teleoperated mode is the idea of one our teams engineers however, like I said in my OP, our driver (my younger brother) has been learning how to operate the robot with our current control scheme since I was a sophomore in HS (the 2001 season I think), and he's been the teams driver for the last 3 years. So, I think we can convince our dear engineer that the PID in teleoperated mode isn't necessary. Today at our shop I'll try out the Proportional code and see what I can do. Thank you again for your help.