diff --git a/source/docs/software/dashboards/shuffleboard/advanced-usage/shuffleboard-tuning-pid.rst b/source/docs/software/dashboards/shuffleboard/advanced-usage/shuffleboard-tuning-pid.rst
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--- a/source/docs/software/dashboards/shuffleboard/advanced-usage/shuffleboard-tuning-pid.rst
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 # Testing and Tuning PID Loops
 
-One challenge in using sensors to control mechanisms is to have a good algorithm to drive the motors to the proper position or speed. The most commonly used control algorithm is called PID control.  There is a [good set of videos](https://wp.wpi.edu/wpilib/robotics-videos/) (look for the robot controls playlist) that explain the control algorithms described here. The PID algorithm converts sensor values into motor speeds by:
+One challenge in using sensors to control mechanisms is to have a good algorithm to drive the motors to the proper position or speed. The most commonly used control algorithm is called PID control.  There is a [good set of videos](https://www.youtube.com/playlist?list=PL8BLGj0RyhMzNXX9gHBosWPRbqqn0gJUQ) that explain the control algorithms described here. The PID algorithm converts sensor values into motor speeds by:
 
 1. Reading sensor values to determine how far the robot or mechanism from the desired setpoint. The setpoint is the sensor value that corresponds to the expected goal. For example, a robot arm with a wrist joint should be able to move to a specified angle very quickly and stop at that angle as indicated by a sensor. A potentiometer is a sensor that can measure. rotational angle. By connecting it to an analog input, the program can get a voltage measurement that is directly proportional to the angle.
 2. Compute an error (the difference between the sensor value and the desired value). The sign of the error value indicates which side of the setpoint the wrist is on. For example negative values might indicate that the measured wrist angle is larger than the desired wrist angle. The magnitude of the error is how far the measured wrist angle is from the actual wrist angle. If the error is zero, then the measured angle exactly matches the desired angle. The error can be used as an input to the PID algorithm to compute a motor speed.