# Revision history [back]

### Gazebo crashing when setting VelocityTarget with joint controller

Hello, I want to use JointController with PID to make my wheels moving realistically with forces. My code is working when using the usual joint motors, just like in the tutorial : http://gazebosim.org/tutorials?tut=se...

  this->model->GetJoint("orange_joint")->SetParam("fmax", 0, 100.0);
this->model->GetJoint("orange_joint")->SetParam("vel", 0, 1.0);


But I want to use jointcontrollers as the speed is not continuous with this method. When I am trying with the jointcontroller :

this->driving_joint_controller = this->parent->GetJointController();
this->driving_joint_controller->Reset();
this->joint_name = this->driving_joint->GetScopedName();
this->driving_joint_controller->SetVelocityPID(this->joint_name, common::PID(100.0, 0.0, 0.0));


and in my update function :

double driving_joint_speed =