Dealing with low resolution data for speed PID

[Jared Russell]

The first thing I would explore is ways to get a higher resolution speed signal. I am not all that familiar with the Vex controller so I can't speak to the ease of the following approach, but one way to solve this problem in general would be to measure the time between successive encoder pulses rather than counting pulses and dividing by unit time. Most timers have resolutions that far exceed the resolution that you are showing here.