#pragma config(Hubs, S1, HTMotor, HTMotor, HTMotor, none)
#pragma config(Motor, mtr_S1_C1_1, motorD, tmotorNormal, openLoop)
#pragma config(Motor, mtr_S1_C1_2, motorE, tmotorNormal, openLoop)
#pragma config(Motor, mtr_S1_C2_1, Bucket, tmotorNormal, PIDControl, encoder)
#pragma config(Motor, mtr_S1_C2_2, motorG, tmotorNormal, openLoop)
#pragma config(Motor, mtr_S1_C3_1, motorH, tmotorNormal, openLoop)
#pragma config(Motor, mtr_S1_C3_2, motorI, tmotorNormal, openLoop)
//*!!Code automatically generated by 'ROBOTC' configuration wizard !!*//

task main ()

{

nMotorEncoder[Bucket] = 0; //Resets Encoder Values

wait1Msec(300); //Wait for the encoders to reset

while (1==1) //Do the Following forever
{

while(nMotorEncoder[Bucket] < 500) //while the Encoder value is at less than 500 counts
{
motor[Bucket] = 60; // Move arm up
}

while(nMotorEncoder[Bucket] > 500) //while the Encoder value is greater than 500 counts
{
motor[Bucket] = -60; // Move arm down
}

motor[Bucket] = 0; // Stop Motor Movement

}



}

I am not familiar with the built-in PID in RobotC but in theory PID should regulate the power to the motor so that it will slow down when approaching the target. I am always assuming built-in PID is not engaged until you use nMotorEncoderTarget (must set a setpoint to start PID). But the code posted sets the motor power to either 60 or -60. Unless built-in PID is ignoring the value 60 you set, going between 60 and -60 will certainly cause ringing. PID is supposed to regulate the power level as well as the motor direction according to the difference between the current encoder value and the target encoder value. So you shouldn't have to test the encoder value yourself and set the power and direction. But I could be wrong. We don't use the built-in PID, we have our own PID library. My knowledge of built-in PID is from reading other threads in the forum and that's how other people use built-in PID.