We tested out the Minecraft in CAD with Evan. He was easily able to finish it in 15 minutes.
4/16/16 Software
PID Controller: Pseudo-Code Within the Controller Class: error = sensorValue – offset(target) integral = integral * dampen + error derivative = error – lastError pTerm = Kp*error iTerm = Ki*integral dTerm = Kd*derivative correction = pTerm + iTerm + dTerm