PID or Proportional Integral and Derivative control is a system by which a robot can use a sensor such as a gyro, encoder, or potentiometer and a set point to go to a specific rotation or position. A PID loop is given an input sensor, an output motor, and a set point. The PID will then adjust the output so that the input will read the set point value. This technique is used primarily to setup autonomous commands for rotating the robot a set number of degrees or driving a predefined distance. The documents below will explains the specifics on how a PID loop works and how to tune one to get to the set point as quickly and efficiently as possible.