PID Loop Help

Anyone know a good reference or tutorial for a PID loop on a flywheel?

For general information about PIDs, you might start by reading this:
http://georgegillard.com/documents/2-introduction-to-pid-controllers

Also, try googling terms like Vex NBN, “Nothing but net”, PID, flywheel, vexforum.com … you know, the usual suspects. A lot of flywheels were built during Nothing But Net and a lot of flywheels didn’t work so well a couple years ago, too, so I’m sure you can find many, many, many discussions about this.