+ requires(driveTrain);
+ this.maxTimeOut = maxTimeOut;
+ this.target = distance;
+ this.zeroAngle = driveTrain.getAngle();
+
+ this.driveP = driveTrain.driveP;
+ this.driveI = driveTrain.driveI;
+ this.driveD = driveTrain.driveD;
+ this.gyroP = driveTrain.driveStraightGyroP;
+ this.driveController = new PIDController(driveP, driveI, driveD);
+ this.driveController.setDoneRange(0.5);
+ this.driveController.setMaxOutput(1.0);
+ this.driveController.setMinDoneCycles(5);