PID Subsystems Question

[warfaj]

Is there any way of running multiple PID instances simultaneously from the same PID subsystem?
Let me clarify:
I want to run my drive train with a PID Subsystem but I need to set different set points for each side of the drive train. I also need to set different PID inputs. Is there any way for me to do this in one PID Subsystem? The PID constants are the same for both sides of the drive train.

PS. I know I can do this with two PID Subsystems but I think it would be better to have a single DriveTrain subsystem.

Thanks in advance.