We are trying to use PID to keep our double wheel thrower spinning at the same speed. However, when we implemented it, both wheels start spinning, then after about 2 seconds, one wheel stops and starts spinning the opposite direction. I'm assuming it's because one of the ime's is reading a negative value, and reverses to match the other motor. Am I correct in this, and if so, how do I correct this.

I guess I'll answer my own post.

Turns out, the left shooter wheel had the wires reversed instead of reversing the motors in the Motor and Sensor Setup. The IME Sensed the motor was going in the opposite direction compared to what it was programed to go. So the PID Reversed the direction of the motor to make it go the correct direction. Pretty cool actually. Anyway, we reversed the wires and now PID works.

Tuning the PID to do what we want it to do is another issue. It's a lot harder than I thought it would be. Anyone want to give some advise? PLEASE.