diff --git a/hydrobot.py b/hydrobot.py
--- a/hydrobot.py
+++ b/hydrobot.py
@@ -6,10 +6,12 @@ import configparser
 import datetime
 from canard import can, messaging
 from canard.hw import socketcan
+from canard.hw import cantact
 from canard.file import jsondb
 from influxdb import InfluxDBClient
 from influxdb import SeriesHelper
 from apscheduler.schedulers.background import BackgroundScheduler
+import PID
 
 #TODO
 #fix temperature offsets
@@ -80,6 +82,8 @@ class CanBus:
         self.database = database
 
         self.dev = socketcan.SocketCanDev("can0")
+        #self.dev = cantact.CantactDev("/dev/ttyACM8")
+        #self.dev.set_bitrate(500000)
         
         parser = jsondb.JsonDbParser()
         self.msgdb = parser.parse('hydrobot_can.json')
@@ -123,6 +127,7 @@ class CanBus:
         self.dev.send(self.relay_send_msg.encode())
         
     def set_output(self, module, output, state):
+        print("Output! " + module + " " + output + " " + str(state))
         msg = self.msgdb.lookup_message(module)
         msg.lookup_signal(output).value = state
         self.dev.send(msg.encode())
@@ -165,13 +170,48 @@ class Scheduler:
                     if item[0] == 'off_duration':
                         off_duration = ast.literal_eval(item[1])
                 if trigger == 'cron':
-                    self.apscheduler.add_job(self.canbus.set_output, trigger, [module, output, 1], day = on_time[0], day_of_week = on_time[1], hour = on_time[2], minute = on_time[3], second = on_time[4])
-                    self.apscheduler.add_job(self.canbus.set_output, trigger, [module, output, 0], day = off_time[0], day_of_week = off_time[1], hour = off_time[2], minute = off_time[3], second = off_time[4])
+                    on_job = self.apscheduler.add_job(self.canbus.set_output, trigger, [module, output, 1], day = on_time[0], day_of_week = on_time[1], hour = on_time[2], minute = on_time[3], second = on_time[4])
+                    off_job = self.apscheduler.add_job(self.canbus.set_output, trigger, [module, output, 0], day = off_time[0], day_of_week = off_time[1], hour = off_time[2], minute = off_time[3], second = off_time[4])
+                                        
+                    #evalute the current state of the cron trigger and set output on if needed
+                    if on_job.next_run_time > off_job.next_run_time:
+                        self.canbus.set_output(module, output, 1)
+                    
                 if trigger == 'interval':
                     self.apscheduler.add_job(self.interval_off, trigger, [module, output, section + "_off", section + "_on", on_duration], id = section + "_off", weeks = off_duration[0], days = off_duration[1], hours = off_duration[2], minutes = off_duration[3], seconds = off_duration[4])
                     timer = self.apscheduler.add_job(self.interval_on, trigger, [module, output, section + "_off", section + "_on", off_duration], id = section + "_on", weeks = on_duration[0], days = on_duration[1], hours = on_duration[2], minutes = on_duration[3], seconds = on_duration[4])
                     timer.pause()
-        
+                    
+            if "pid" in section:
+                items = config.items(section)
+                for item in items:
+                    if item[0] == 'module_out':
+                        module_out = item[1]
+                    if item[0] == 'output':
+                        signal_out = item[1]
+                    if item[0] == 'module_in':
+                        module_in = item[1]
+                    if item[0] == 'input':
+                        signal_in = item[1]
+                    if item[0] == 'kp':
+                        kp = item[1]
+                    if item[0] == 'ki':
+                        ki = item[1]
+                    if item[0] == 'kd':
+                        kd = item[1]
+                    if item[0] == 'rate':
+                        rate = item[1]
+                    if item[0] == 'setpoint':
+                        setpoint = item[1]
+                
+                pid = PID.PID(float(setpoint))
+                pid.SetKp(kp)
+                pid.SetKi(ki)
+                pid.SetKd(kd)
+                pid.Reset()
+                self.apscheduler.add_job(self.process_PID, "interval", [pid, module_out, signal_out, module_in, signal_in], seconds = int(rate))
+                
+                    
     def interval_off(self, module, output, timer_off, timer_on, on_duration):
         self.canbus.set_output(module, output, 1)
         self.apscheduler.get_job(timer_on).reschedule("interval", weeks = on_duration[0], days = on_duration[1], hours = on_duration[2], minutes = on_duration[3], seconds = on_duration[4])
@@ -187,7 +227,16 @@ class Scheduler:
         self.apscheduler.get_job(timer_on).pause()
         if DEBUG_TIMER:
             print("Turning " + timer_off + "! " + str(datetime.datetime.now().time()))
-    
+            
+    def process_PID(self, pid, module_out, signal_out, module_in, signal_in):
+        msg = self.canbus.msgdb.lookup_message(module_in)
+        input_reading = msg.lookup_signal(signal_in).value
+        input_reading = 19
+        pid_out = pid.Update(input_reading)
+        if pid_out > 0:
+            self.canbus.set_output(module_out, signal_out, 1)
+            run_time = datetime.datetime.now() + datetime.timedelta(milliseconds=pid_out)
+            self.apscheduler.add_job(self.canbus.set_output, "date", run_date=run_time, args=[module_out, signal_out, 0])
     
 def func():
     print(1)
@@ -205,8 +254,8 @@ def main():
     scheduler.start()
 
     while True:
-        
-        time.sleep(1)
+        canbus.dev.send(can.Frame(0x7FF, 8, [0x11, 0x22, 0x33, 0x44, 0x55, 0x66, 0x77, 0x88]))
+        time.sleep(0.001)
         
 
 if __name__ == "__main__":