+ requires(driveTrain);
+ this.driveP = driveTrain.driveP;
+ this.driveI = driveTrain.driveI;
+ this.driveD = driveTrain.driveD;
+ this.gyroP = driveTrain.defaultGyroP;
+ this.gyroI = driveTrain.defaultGyroI;
+ this.gyroD = driveTrain.defaultGyroD;
+ this.driveController = new PIDController(this.driveP, this.driveI,
+ this.driveD);
+ this.driveController.setDoneRange(0.5);
+ this.driveController.setMaxOutput(1.0);
+ this.driveController.setMinDoneCycles(5);
+
+ this.gyroController = new PIDController(this.gyroP, this.gyroI, this.gyroD);
+ this.gyroController.setDoneRange(1);
+ this.gyroController.setMinDoneCycles(5);