this.maxTimeOut = maxTimeOut;
this.target = distance;
- this.gyroP = driveTrain.getGyroController().getP();
+ this.driveP = driveTrain.driveP;
+ this.driveI = driveTrain.driveI;
+ this.driveD = driveTrain.driveD;
+ this.gyroP = driveTrain.driveStraightGyroP;
this.driveController = driveTrain.getDriveController();
this.driveController.setDoneRange(0.5);