X-Git-Url: http://challenge-bot.com/repos/?a=blobdiff_plain;f=src%2Forg%2Fusfirst%2Ffrc%2Fteam3501%2Frobot%2Fcommands%2Fdriving%2FTurnForAngle.java;fp=src%2Forg%2Fusfirst%2Ffrc%2Fteam3501%2Frobot%2Fcommands%2Fdriving%2FTurnForAngle.java;h=b95c8223a69fccad10d0f3d3cc2bc882129bb6ed;hb=6bc81b557f637fa81f73c33161e82cba049235f3;hp=717f15151d5b8512218b2e865acade3403cd9ced;hpb=dd4a87932b7956021f78c8e86cff6adf0187aa8f;p=3501%2F2017steamworks

diff --git a/src/org/usfirst/frc/team3501/robot/commands/driving/TurnForAngle.java b/src/org/usfirst/frc/team3501/robot/commands/driving/TurnForAngle.java
index 717f151..b95c822 100755
--- a/src/org/usfirst/frc/team3501/robot/commands/driving/TurnForAngle.java
+++ b/src/org/usfirst/frc/team3501/robot/commands/driving/TurnForAngle.java
@@ -36,9 +36,15 @@ public class TurnForAngle extends Command {
     this.maxTimeOut = maxTimeOut;
     this.target = Math.abs(angle);
 
-    this.gyroP = driveTrain.turnP;
-    this.gyroI = driveTrain.turnI;
-    this.gyroD = driveTrain.turnD;
+    if (angle > 90) {
+      this.gyroP = driveTrain.largeTurnP;
+      this.gyroI = driveTrain.largeTurnI;
+      this.gyroD = driveTrain.largeTurnD;
+    } else {
+      this.gyroP = driveTrain.smallTurnP;
+      this.gyroI = driveTrain.smallTurnI;
+      this.gyroD = driveTrain.smallTurnD;
+    }
 
     this.gyroController = new PIDController(this.gyroP, this.gyroI, this.gyroD);
     this.gyroController.setDoneRange(1);