Annirak: You said something about wanting a bend sensor, but they're too expensive for your purposes. I remember the team I was on (1683) in FIRST FRC kludging together a bend sensor, I think. I also clearly remember linear sensor for a telescoping arm. I can't really remember how we did the bend sensor (or if we ever actually passed going "oh, yeah, we could do it that way), but I clearly remember that we used a photosensor, LED, and a tape measure with holes punched in it for the linear sensor. PID is extremely common for motor control in FRC, so if you looked around some FRC forums you might be able to find a cheap way to do it. I'm actually thinking a light, photosensor or something, and patterned string or something might work for a bend sensor, although I don't have the idea of where you want to use it quite clear in my head, so I'm really just throwing ideas out there.
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