PID Control of a Jaguar

[Pramizle]

We are trying to use a PID loop on our robot to set an elevator-like mechanism at a certain height. We are using an encoder to gain the feedback of where the elevator is sitting. Our primary build mentor has told us that their should be a way to set a maximum and minimum speed of the motor and then the PID loop will just control the acceleration/deceleration. However, we cannot find any place to do this. We have checked the WPI Library files and ReadTheDocs to no avail. If anybody has any experience with this that would be great.