- // Encoder PID Proportional Constants P, I, and D
- private static double EP = 0.013, EI = 0.000015, ED = -0.002;
-
- // Gyro PID Constants P, I, and D
- private static double GP = 0.018, GI = 0.000015, GD = 0;
- private static double pidOutput = 0;
-
- // PID Controller tolerances for the error
- private static double encoderTolerance = 8.0, gyroTolerance = 5.0;
-