this.direction = direction;
this.maxTimeOut = maxTimeOut;
this.target = Math.abs(angle);
- this.zeroAngle = driveTrain.getAngle();
this.gyroP = driveTrain.turnP;
this.gyroI = driveTrain.turnI;
protected void initialize() {
this.driveTrain.resetEncoders();
this.gyroController.setSetPoint(this.target);
+ this.zeroAngle = driveTrain.getAngle();
}
@Override