References:
WPILib Introduction to PID - https://docs.wpilib.org/en/stable/docs/software/advanced-controls/introduction/introduction-to-pid.html
FRC Team 2928 Training - https://2928-frc-programmer-training.readthedocs.io/en/latest/Romi/Control/romiPID/
Video: What Is PID Control? Understanding PID Control, Part 1, Brian Douglas - https://www.youtube.com/watch?v=wkfEZmsQqiA