+ this.gyroP = driveTrain.turnP;
+ this.gyroI = driveTrain.turnI;
+ this.gyroD = driveTrain.turnD;
+
+ this.gyroController = new PIDController(this.gyroP, this.gyroI, this.gyroD);
+ this.gyroController.setDoneRange(1);
+ this.gyroController.setMinDoneCycles(5);
+ }
+
+ @Override
+ protected void initialize() {
+ this.driveTrain.resetEncoders();
+ this.gyroController.setSetPoint(this.target);
+ this.zeroAngle = driveTrain.getAngle();
+ }