fixes

src/main/java/frc4388/robot/commands/AutoBalance.java

@@ -0,0 +1,46 @@
+// 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.robot.commands;
+
+import edu.wpi.first.math.MathUtil;
+import frc4388.robot.Robot;
+
+// NOTE:	Consider using this command inline, rather than writing a subclass.	For more
+// information, see:
+// https://docs.wpilib.org/en/stable/docs/software/commandbased/convenience-features.html
+public class AutoBalanceTF2 extends PelvicInflamitoryDisease {
+	Robot.MicroBot bot;
+
+	/** Creates a new AutoBalanceTF2. */
+	public AutoBalanceTF2(Robot.MicroBot bot) {
+		super(.7, .1, 15, 0);
+		addRequirements(bot);
+		this.bot = bot;
+	}
+
+	@Override
+	public double getError() {
+		return bot.gyro.getPitch();
+	}
+
+	@Override
+	public void runWithOutput(double output) {
+		double out2 = MathUtil.clamp(output / 40, -.5, .5);
+		if (Math.abs(bot.gyro.getPitch()) < 3) out2 = 0;
+		bot.setOutput(out2);
+	}
+
+	@Override
+	public void initialize() {
+		super.initialize();
+		this.bot.gyro.reset();
+	}
+
+	// Returns true when the command should end.
+	@Override
+	public boolean isFinished() {
+		return false;
+	}
+}