In this routine, i have an issue where when "lineSpeed" is changed, the PID loop math does not appear to be working out correctly and if I'm only using KP, it will never remove the error, it will be off by some amount and even though the calculated bias appears to be correct. What seems to "fix" it every time is to simply open the PID Setup, then click OK. So it appears something is not "updating" that needs to but i can't seem to track it down.