this.maxTimeOut = maxTimeOut;
this.target = Math.abs(angle);
- this.gyroP = driveTrain.turnP;
- this.gyroI = driveTrain.turnI;
- this.gyroD = driveTrain.turnD;
+ if (angle > 90) {
+ this.gyroP = driveTrain.largeTurnP;
+ this.gyroI = driveTrain.largeTurnI;
+ this.gyroD = driveTrain.largeTurnD;
+ } else {
+ this.gyroP = driveTrain.smallTurnP;
+ this.gyroI = driveTrain.smallTurnI;
+ this.gyroD = driveTrain.smallTurnD;
+ }
this.gyroController = new PIDController(this.gyroP, this.gyroI, this.gyroD);
this.gyroController.setDoneRange(1);