Running Two Simultaneous PID Loops

[Joe Ross]

Originally Posted by Tominator368

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!

Yes your description is correct. Common sensors such as encoder and gyros implement PIDSource, so you would not need to create your own PIDSource unless you want to monkey with the values from them. Since you described a complex output, you would need to implement your own PIDOutput.