swerve pid constants and gains

src/main/java/frc4388/utility/Gains.java

@@ -0,0 +1,60 @@
+// Copyright (c) FIRST and other WPILib contributors.
+// Open Source Software; you can modify and/or share it under the terms of
+// the WPILib BSD license file in the root directory of this project.
+
+package frc4388.utility;
+
+/** Add your docs here. */
+public class Gains {
+    public double m_kP;
+    public double m_kI;
+    public double m_kD;
+    public double m_kF;
+    public int m_kIzone;
+    public double m_kPeakOutput;
+    public double m_kmaxOutput;
+    public double m_kminOutput;
+
+    /**
+     * Creates Gains object for PIDs
+     * @param kP The P value.
+     * @param kI The I value.
+     * @param kD The D value.
+     * @param kF The F value.
+     * @param kIzone The zone of the I value.
+     * @param kPeakOutput The peak output setting the motors to run the gains at, in both forward and reverse directions. By default 1.0.
+     */
+    public Gains(double kP, double kI, double kD, double kF, int kIzone, double kPeakOutput)
+    {
+        m_kP = kP;
+        m_kI = kI;
+        m_kD = kD;
+        m_kF = kF;
+        m_kIzone = kIzone;
+        m_kPeakOutput = kPeakOutput;
+        m_kmaxOutput = m_kPeakOutput;
+        m_kminOutput = -m_kPeakOutput;
+    }
+
+    /**
+     * Creates Gains object for PIDs
+     * @param kP The P value.
+     * @param kI The I value.
+     * @param kD The D value.
+     * @param kF The F value.
+     * @param kIzone The zone of the I value.
+     * @param kMinOutput The lowest output setting to run the gains at, usually in the reverse direction. By default -1.0.
+     * @param kMaxOutput The highest output setting to run the gains at, usually in the forward direction. By default 1.0.
+     */
+    public Gains(double kP, double kI, double kD, double kF, int kIzone, double kMinOutput, double kMaxOutput)
+    {
+        m_kP = kP;
+        m_kI = kI;
+        m_kD = kD;
+        m_kF = kF;
+        m_kIzone = kIzone;
+        m_kminOutput = kMinOutput;
+        m_kmaxOutput = kMaxOutput;
+        m_kPeakOutput = (Math.abs(m_kminOutput) > Math.abs(m_kmaxOutput)) ? Math.abs(m_kminOutput) : Math.abs(m_kmaxOutput);
+    }
+}