PID controller with camera.

[nowireless]

It looks like you are using the wrong shared pointer, both Robot and RobotMap they have a shared pointer named visionAlignPID. It looks like the one in Robot does not contain a pointer, while in RobotMap you set the visionAlignPID shared pointer to a PIDController.

I think you should change

 Robot::visionAlignPID.get()->Enable();

to

RobotMap::visionAlignPID.get()->Enable();