Help Setting Up PID System for Tank Drive Train

[Ether]

Originally Posted by l0stboy

That makes sense. Would there be link anywhere for some sample code of that?

I don't have the FRC Java installed here. I'll let a Java guru answer that.

You must use CAN bus (instead of PWM) to control the Jags if you want to use their built-in PID.

Depending on what you want to accomplish with the encoders, you may be better off connecting them to the cRIO rather than the Jag, and run your controller in the cRIO (either home-brew or the PID in WPILib library).