PID onTarget() Updated

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Thanks for the feed back and all really great points. This was my first year with competition robotics and the first year for the team with a full time technical mentor (Me). I personally never used a repository and the team specially. I understood the idea as you pointed out and likely should start now vs. latter using it properly.
Your right on the CANTalons but again as a new member my voice didn't have a vote in the correct way to use the controls properly. Just a matter of the dynamics of our team. (Lots of not enough time to do it right the first time so lets try a second) Anyhow I've been given the position of lead mentor so now we/I can try to figure out and demonstrate how to use the controls to their fullest ability and hopefully get some breakout boards to the team to test with.

Are you thinking its the "SeaLegs" drivetrain that is causing the error? Or is it the fact that we have two RobotDrive type objects.

RobotDrive robotDrive41 = RobotMap.driveTrainRobotDrive41

and

RobotDrive seaLegeDrive21 = RobotMap.seaLegsSeaLeg_Drive;

The robotDrive41 is our primary drive train (Wheels) the SeaLegs are a set of CAM'ed legs that walk the bot over obstacles.

The NorticSpeedControler was a bit of code team NorticStorm shared with us just after RecylingRush. It help a lot with that years drive train with driving low speed control of the robot. With this years WPILIB something broke even they said it reacted differently so the main drive went back to a more traditional configuration but with our "SeaLegs" it still seem to help with the control of the subsystem.