- this.gyroP = driveTrain.defaultGyroP;
- this.gyroI = driveTrain.defaultGyroI;
- this.gyroD = driveTrain.defaultGyroD;
- this.driveController = new PIDController(this.driveP, this.driveI,
- this.driveD);
+ this.gyroP = driveTrain.driveStraightGyroP;
+ this.driveController = new PIDController(driveP, driveI, driveD);