PID Questions

[CardcaptorRLH85]

This is the first year that our team will be using a PID. In the past we've simply used dead reckoning to move around during autonomous mode and had few problems. However, with the game this year, we're going to use sensors and that means that I need to learn a new skill. I've been looking at various information, examples, and sample code for a few days now and I must say, I'm somewhat confused. I'm going to try to explain what I'm doing and hopefully I'll be able to get a bit of help ^_^

Alright, our team is using the kit Gyro and 2 Grayhill 63R encoders. I'm also using Kevin Watson's new code as the base for our teams robot code. I've managed (without too much trouble) to get the gyro and encoders wired up and running.

My problem comes with the actual writing of the PID code since even after reading much of the available information, I'm still quite confused. As I understand it, I see us needing velocity (to determine speed) and positional (to determine direction) PID's for both hybrid mode and teleoperated mode. When I look at some of the PID code snippets that I've found here at CD, I'm getting the feeling that I could make it work but I feel like I'm not understanding how the code works.

I hope that this hasn't come out too much like a stream of consciousness however, it's getting late and I've been trying to figure this out for quite a while now. If anything that I have said is completely wrong (I have my doubts on the definitions of velocity and positional PID's) please correct me. I truly thank anyone who can help me out here.

EDIT: I knew that I forgot something. Due to strong influence from the robot operator. I somehow also have to try to program the control to two stick tank type i.e. left-stick y-axis controls left side speed and right-stick y-axis controls right side speed. He's gotten pretty good at that over the years so, I can't really just change it for his last year operating the robot.