I am soon getting an optical shaft encoder for my flywheel. Our goal is to keep the consistency of the balls flying the same. I have seen somewhere when the ball contacts the wheel causing the wheel to slow down. We want the motors to add a little more speed so that the ball won’t have to wait for the flywheel to speed back up. Could someone post a PID or a program that could help us with this problem. That would be most appreciated.

There is a surprising number of posts about PID on the forums. Do a quick search on google for “vex forum pid” and you get along with a plethora of other posts on this subject. This season alone has countless threads asking for PID and subsequent help about it, you just have to look for it.