We have our PIDController now up and running with either the z axis of a joystick or the x offset of a camera (same ranges) to give it its input (PIDSource). Last night, we had the turret tracking the ball pretty well. Time to tweak the PID constants
If you don't have a turret position sensor device of some sort, you can still incorporate the limit switches into the PID controller setup. In your PIDSource object, check the limit switch for the direction you are turning toward. If closed, return a 0.0 to stop the motor. If you're still getting some 'jitter', you can set a flag for the direction you were travelling to keep the output 0 until you start trying to track toward the other direction. The problem with just limit switches is that you can't start slowing down before the end stops.
One more thing that just struck me... If you're trying to use Set statements for the same Jaguar that the PIDController is using, you will be fighting it. The PID loop runs every 50ms. You can set it to 0, but the PIDController will shortly overwrite it.
Steve C.