PIDController - control speed vs distance - SetSetpoint

[bmfrc]

Originally Posted by gerthworm

Yah, as you probably are finding out, there are two independent ways to do PID in Java...

Originally Posted by AriMindell

On 1389, we reimplemented PIDController to fit our code design, so I don't have any direct experience with the WPILib...

Thank you guys, while reading the docs and implementing the code your answers really helping and we already implemented the pid controllers. It seems to work fine.

What is the best practice in enabling and disabling the pid controller.
Lets say i want to autonomously drive the robot to point X - SetSetpoint(distance_from_X).
When the robot reach the target and stops, should i disable the controller?
If so, what is the best way to trigger this event?

Thanks.