functional and quick PID for position/rotation

PID Tuning:

If   Pulses/Distance = 3000
Then 1 UNIT = 8.64 feet.
= (3000/360)

For PID Rotate:
P = -7.00
I = 0.0
D = 0.0

For PID Straight:
P = -3000
I = 0.0
D = 0.0

For Chassis PID, BOTH SIDES:
P = 0.0
I = 1000.0
D = 0.0