Logic check on my code

[Skyehawk]

I would appreciate another person going through my PeriodicTasks.vi. I have it pretty heavily commented, but I am sure it is not perfect. I do not have a robot set up to test this code, thus the request on the forums. This is my first time using a PID controller (other than just fooling around).

Here is the Link to the file: https://www.dropbox.com/s/egijon3xwo...cCheck.vi?dl=0

This is for a hypothetical robot that has a "forklift" that can reach ~36". The motion is caused by a 12" stroke linear actuator and some mechanical (dis)advantage. There are limit switches on the top and bottom.

The basic goals of the code are as follows (the three P's):
1) Prevent the actuator form going at 100% speed and stopping at the end of it's stroke at 100% (attempt to use PID as a "cushion")
2) Provide various heights for the forklift to stop at (13", 25", 36" etc.; via buttons on joystick) again, using PID in an attempt to not break the actuator w/ sudden stops.
3)Permit manual control of the lift (via Y axis on joystick) this must override any values the PID is feeding the actuator.

- Keep in mind that the PID is not tuned (default values are still in place)
- I may have to take direction into account for the encoder (to determine the actual direction of the linear actuator)

Thank you for any help in advance.

- Feel free to use any code/ideas (a PM that you did would be nice )