Exiting a PID loop

Programming Support ROBOTC Tech Support
14 
void drivePID(double target) {
target *= 360 / (3.25 * M_PI);
DLB.resetRotation();

double kp = 0.33;
double ki = 0.0005;
double kd = 0.2;

double proportion;
double integralRaw;
double integral;
double integralActiveZone = 360 / (3.25 * M_PI);
double integralPowerLimit = 50 / ki;
double derivative;
double finalPower;

double error = target;
double lastError = target;
sleepMs(50);
while(abs(error) > 75){
    error = target - DLB.rotation(rotationUnits::deg);
    if(error == 0){
        break;
    }
    proportion = kp * error;
    
    if(abs(error) < integralActiveZone && error != 0){
    integralRaw += error;
    } 
    else integralRaw = 0.0;
    
    if(integralRaw > integralPowerLimit){
        integralRaw = integralPowerLimit;
    }
    if(integralRaw < -integralPowerLimit){
        integralRaw = integralPowerLimit;
    }
    
    integral = ki * integralRaw;
    
    derivative = kd * (error - lastError);
    lastError = error;
    
    if(error == 0){
        derivative = 0;
        
    }
    finalPower = 0.5 * (proportion + integral + derivative);
    driveForward(finalPower);
    sleepMs(20);
}
DLF.stop(brakeType::coast);
DLB.stop(brakeType::coast);
DRF.stop(brakeType::coast);
DRB.stop(brakeType::coast);
}

We had the loop in the actual function, and then passed our target as a parameter. If by coasting past the value you mean that you use brakeType::coast, you could always try a different brakeType.