Encoder for Rpm help!

[bob.wolff68]

This looks nice. Now, my question is how to integrate this with a PIDController and Jaguar to make a speed-based/rpm-based PID Control. We played with modifying PIDOutput() in a super-class of Jaguar such that it 'accumulated' rather than just sending the total_error to the Jag which effectively stops the Jag when you get to an error of zero (hence a positional PID controller as it is today)...

Seems that LOTS of people would want to be able to do this, but I wasn't able to find such a thing this year and so we tried creating our own and didn't have luck.

Anyone have experience here?

bob