this.target = Math.abs(angle);
this.zeroAngle = driveTrain.getAngle();
- this.gyroP = driveTrain.defaultGyroP;
- this.gyroI = driveTrain.defaultGyroI;
- this.gyroD = driveTrain.defaultGyroD;
+ this.gyroP = driveTrain.turnP;
+ this.gyroI = driveTrain.turnI;
+ this.gyroD = driveTrain.turnD;
this.gyroController = new PIDController(this.gyroP, this.gyroI, this.gyroD);
this.gyroController.setDoneRange(1);