[windell747]

Hi, Well I've done some testing of the code and for some reason, the values from the PID controllers aren't being passed into the TeleOp Execute loop to add to the joystick values. I submitted another question to the Labview forum about this

I decided to modify my correction method from a few posts ago to having the PID output always modify the joystick output sent to the controller based on the slip ratio calculated. I attached a pdf of my code so that you can see what I mean.

1) How does this sound? Is there a better way?

2) I noticed that the slip ratio goes to infinity a lot, how do you guys deal with the infinity case since it will drive the PID crazy?