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 */
 //test change
package Subsystem.Swerve;

import edu.wpi.first.wpilibj.PIDController;
import edu.wpi.first.wpilibj.Talon;

/**
 *
 * @author 1218
 */
public class O_TurningMotor {

    private static final double Kp = 0.0;
    private static final double Ki = 0.0;
    private static final double Kd = 0.0;

    private Talon motor;
    O_TurningEncoder turningEncoder;
    PIDController PID;
    
    // Initialize your subsystem here
    public O_TurningMotor(int talonPort, int encoderPortA, int encoderPortB) {
        motor = new Talon(2,talonPort); //turing motors on digital breakout 2
        turningEncoder = new O_TurningEncoder(encoderPortA, encoderPortB);
        PID = new PIDController(Kp, Ki, Kd, turningEncoder, motor);
        PID.setInputRange(-180, 180);
        PID.setOutputRange(-1, 1);
        PID.setContinuous(true);
        PID.enable();
    }
    
    public void setAngle(int angle) {
        PID.setSetpoint(angle);
    }
}
@@ -396,17 +396,17 @@
 le Kp = 
-0
+1
 .0;%0A    
@@ -720,16 +720,17 @@
  Talon(2
+ 
 ,talonPo
@@ -985,12 +985,13 @@
 ge(-
-1, 1
+3, .3
 );%0A 

set max speed low for testing made kp 1