PID + Battery Voltage + Talon=??????

[tomy]

So my team needs a PID Controller code for our shooter. All the example code shows this:

	Joystick turretStick(1);
	Jaguar turretMotor(1);
	AnalogChannel turretPot(1);
	PIDController turretControl(0.1, 0.001, 0.0, &turretPot, &turretMotor);
	
	turretControl.Enable();  // start calculating PIDOutput values

	while(IsOperator())
   {
		turretControl.SetSetpoint((turretStick.GetX() + 1.0) * 2.5);
		Wait(.02);		// wait for new joystick values
	}

I cant find anything on using the battery voltage in that code or a talon. Also I read that the speed controllers have a trype of built in PID Loop. One more thing to the the battery volts we are using:

float volt
.
.
. 
volt = DriverStation::GetInstance()->GetBatteryVoltage();