Controlling the Micro Controller Loop

If you're not sampling enough, the robot is driving eyes blind or eyes closed. I mearly still have to do it by hand, because you only get to push that button if you've paid for a good controller. You end o having to do the p i d tuning all over again using a methodo do you talk about sampling rate and p i d at the same time? That has been a concept i've had a lot, lotof trouble conveying the importance of very generally.