Running Two Simultaneous PID Loops

[Tominator368]

Hi ozrien,
To start, I'd like to be able to do pretty much exactly what is described in that thread:

• I'd like to drive forward to a setpoint using an encoder (the first input).
• I'd like to simultaneously be able to correct that movement for drift using a gyro reading (the second input).
• Then, I'd like to be able to stop using that system entirely, and literally switch to using some frontal omni wheels as my output, using a separate encoder on those wheels as my new input (the third possible input).

I apologize for not giving a description of the actual goal in the original post. The biggest thing that I'm interested in knowing is whether or not the way I described in the original post is the actual way PID control with WPILib works. Thanks so much for the help!