- private static double kp = 0.013, ki = 0.000015, kd = -0.002;
- private static double gp = 0.018, gi = 0.000015, gd = 0;
+ // Encoder PID Proportional Constants P, I, and D
+ private static double EP = 0.013, EI = 0.000015, ED = -0.002;
+
+ // Gyro PID Constants P, I, and D
+ private static double GP = 0.018, GI = 0.000015, GD = 0;