@@ -0,0 +1,765 @@
+package org.usfirst.frc.team4761.robot.subsystems;%0A%0Aimport org.usfirst.frc.team4761.robot.XAxisRelativeDirection;%0A%0Aimport edu.wpi.first.wpilibj.command.PIDSubsystem;%0A%0A/**%0A * @author Simon Andrews%0A */%0Apublic class Barrel extends PIDSubsystem %7B%0A    %0A    // Put methods for controlling this subsystem%0A    // here. Call these from Commands.%0A%0A    public Barrel(double p, double i, double d) %7B%0A%09%09super(p, i, d);%0A%09%7D%0A%0A%09public void initDefaultCommand() %7B%0A        // Set the default command for a subsystem here.%0A        //setDefaultCommand(new MySpecialCommand());%0A    %7D%0A%0A%09@Override%0A%09protected double returnPIDInput() %7B%0A%09%09// TODO Auto-generated method stub%0A%09%09return 0;%0A%09%7D%0A%0A%09@Override%0A%09protected void usePIDOutput(double arg0) %7B%0A%09%09// TODO Auto-generated method stub%0A%09%09%0A%09%7D%0A%7D%0A%0A

Add PID subsystem for barrel