Can someone explain 2010 Rotate To Target VI

[willsterm]

Can someone provide a brief summary of how the Rotate To Target VI is supposed to work – in the context of the out-of-the box Update2 release of the 2010 FRC Framework – in particular in the context of Autonomous Independent mode? It’s error output when substantially small enough will force the Autonomous Independent to exit its while loop .. but I don’t understand why the Rotate To Target VI sets the PID’s setpoint in the fashion that it does. Can any one explain the rationale for this?