Labview velocity PID

[mhsrobotics3616]

hey
so our team has an arm design that is pretty heavy. it goes up fine but once it gets past its center of gravity it very quickly falls because theres no longer that weight to pull upward instead its going downward. today i decided i would try to figure out PID... do you think that would work for that situation?

to try it out it would need be based on power not position. one thing ive been trying to figure out is how can i convert the encoder value of the tetrix motors to equate to a power. because wouldnt i set the setpoint as the power from the controller.

so yeah any help is very helpfull.... we have a week to get this done lol were in crunch time...

thanks
FTC3616