Fail Solutions
1. Wait until I hit MAX boost then start lowering the PWM duty cycle based on the negative PID value. this didnt not work since the PID change was so rapid that it would still spike and then boost would oscilate.
2. Make the PWM duty cycle a direct ratio of Ratio of CurrentBoost / MaxBoost. This seems to never get to Max boost and spikes, but steadies out. (does not use PID)