PID functionality on the Talon SRX?

[CadetGizmo]

Hi everyone! First time poster here, so sorry in advance if I'm practicing any ill-advised posting methods.

Our team is considering incorporating PID controllers for either an off-season project or possibly this year's game.

So, I'd like to hear from some people on here who have had past experience with this system! The main things that I'm worried about are pros and cons of the system, but I'd also love to hear anyone's personal experiences with using PID controllers!