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It is currently possible for a PIDManager to be accessed by code other than it's corresponding namespace. This poses problems for subsystems, like ShooterWheels, that need to update their state whenever PID is used.

With subsystems set up as namespaces, it isn't possible for a subsystem to inherit from PIDManager itself. However, this could be circumvented by implementing a class inside the subsystem cpp file that inherits from PIDManager. Then, by removing the separate subsystem PID headers, files outside the subsystem wouldn't have direct control over PID.

Using this setup, the getInstance functions could be removed from the PIDManagers, and each manager could be allocated statically instead of dynamically inside the subsystem namespace.

The disadvantage with this is that the subsystem would then have to add wrapper functions for PIDManager::process so that Robot can run them in the main loop.