Custom PI Loop not working

[teslalab2]

I would try making a "dummy PI" loop and make sure its working. looking at your file, there is so much "if" logic and booleans and everything for testing different scenarios, you would have to be a god to code that in one sitting without checking for functionality, and just have it it work. Most of all that logic isn't even necessary.

simply write one class that works for everything once you get it working, and declare it for every application that you need it. In my experience I have never had code work when I just wrote everything in one sitting, you kinda have to test if its still working every time you add or change something, humans make mistakes. I could be wrong but thats why I think it isn't working.

[Cinnamon Toast]

Thank you guys for all of the help. I'll work through my code today, as it's back to school for me and that means more time with the practice robot. I'll post again when I get things sorted out letting you know what was going wrong.