PID Help and Understanding

Does anyone want to help me with PID. What is it?

PID is a control loop for achieving and maintaining a precise state.
Porportional
Integral
Derivative

So just to get you started here is some of my old posts trying to explain it.

So a P controller is really what you need most of the time. P stands for proportional.
My favorite explanation is
motor =kp*(where I want to be -where I am) If your very far away from the goal you apply full power while if your very close you apply only a little bit of power.
kP is just a unit conversion like feet to inches. It converts sensor values to motor values. The official method for finding the unit conversion is really just starting at 0 and making it bigger until it works.

This applied to raising an arm could be something like
motor[armMotor]=.2*(goalLocation-sensorValue[Pot]);

Here is my favorite guide for an in depth understanding of all of PID. Written by one of the forum members here.

http://georgegillard.com/documents/2-introduction-to-pid-controllers

Could anyone help me with writing a PID program

That guide is pretty much giving you a PID program albeit in pseudocode…

If you’re going to use it on your flywheel, make sure that you calculate the velocity with an quad encoder or IME.