@@ -0,0 +1,806 @@
+/*%0D%0A * To change this license header, choose License Headers in Project Properties.%0D%0A * To change this template file, choose Tools %7C Templates%0D%0A * and open the template in the editor.%0D%0A */%0D%0Apackage org.team3042.sweep.commands;%0D%0A%0D%0A/**%0D%0A *%0D%0A * @author NewUser%0D%0A */%0D%0Apublic class CorrectPID %7B%0D%0A    double P = 0,I = 0,D = 0;%0D%0A    int ePrime = 0,E = 0;%0D%0A    public CorrectPID(double p, double i, double d)%7B%0D%0A        P = p;%0D%0A        I = i;%0D%0A        D = d;%0D%0A    %7D%0D%0A    %0D%0A    public void reset()%7B%0D%0A        ePrime = 0;%0D%0A        E = 0;%0D%0A    %7D%0D%0A    %0D%0A    public double correction(int encoderValue, int goalEncoderValue)%7B%0D%0A        int e,de;%0D%0A        e = encoderValue - goalEncoderValue;%0D%0A        de = e - ePrime;%0D%0A        E += e;%0D%0A        ePrime = e;%0D%0A        %0D%0A        return (P * e) + (D * de) + (I * E);%0D%0A    %7D%0D%0A%7D%0D%0A

Add PID class.