- /*
- * A setpoint is the value we want the PID controller to attempt to adjust the
- * system to
- * In other words, If we want to drive the robot 4 meters, the setpoint would
- * be 4 meters
- */
-
- // 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;
-