+ this.direction = direction;
+ this.maxTimeOut = maxTimeOut;
+ this.target = angle;
+
+ this.gyroP = driveTrain.defaultGyroP;
+ this.gyroI = driveTrain.defaultGyroI;
+ this.gyroD = driveTrain.defaultGyroD;
+
+ this.gyroController = new PIDController(this.gyroP, this.gyroI, this.gyroD);
+ this.gyroController.setDoneRange(1);
+ this.gyroController.setMinDoneCycles(5);