@@ -0,0 +1,875 @@
+package org.usfirst.frc.team4342.api.pid;%0A%0Aimport org.usfirst.frc.team4342.robot.components.Repository;%0A%0Aimport com.kauailabs.navx.frc.AHRS;%0A%0Aimport edu.wpi.first.wpilibj.PIDController;%0Aimport edu.wpi.first.wpilibj.PIDSource;%0A%0Apublic class PID %0A%7B%0A%09private static PIDController angleControl;%0A%09private double pGain = 1, iGain = 0.0, dGain = 0.0;%0A%09private static AHRS navX;%0A%0A%09public PID()%0A%09%7B%0A%09%09angleControl = new PIDController(pGain, iGain, dGain, (PIDSource)navX, Repository.TankDrive);%0A%0A%09%09angleControl.setContinuous();%0A%09%09angleControl.setInputRange(0.0, 360.0);%0A%09%09angleControl.setOutputRange(-1.0, 1.0);%0A%09%09angleControl.enable();%0A%09%7D%0A%09%0A%09public void pidOn()%0A%09%7B%0A%09%09angleControl.enable();%0A%09%09Repository.TankDrive.pidWrite(angleControl.get());%0A%09%7D%0A%09public void pidOff()%0A%09%7B%0A%09%09angleControl.disable();%0A%09%7D%0A%09public void setSetpoint(double angle)%0A%09%7B%0A%09%09angleControl.setSetpoint(angle);%0A%09%7D%0A%0A%7D%0A%0A

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