[JesseK]

What I hate about PID control is that it allows the guess and check method of control without really coming up with a conclusion of why you tried certain values. It completely eliminates the analysis portion of closed loop feedback -- analysis that could fundamentally improve even the mechanical side of the design.

Aside from that fundamental flaw, yes PID is good enough for FRC. Who has the time to truly model a subsystem in FRC anyways?