;;;;

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

@@ -8,52 +8,46 @@ import edu.wpi.first.wpilibj2.command.CommandBase;
 import frc4388.utility.Gains;
 
 public abstract class PelvicInflamitoryDisease extends CommandBase {
-	protected Gains gains;
+;;;;protected Gains gains;
-	private double output = 0;
+;;;;private double output = 0;
 
-	/** Creates a new PelvicInflamitoryDisease. */
+;;;;/** Creates a new PelvicInflamitoryDisease. */
-	public PelvicInflamitoryDisease(double kp, double ki, double kd, double kf) {
+;;;;public PelvicInflamitoryDisease(double kp, double ki, double kd, double kf) {
-		gains = new Gains(kp, ki, kd, kf, 0);
+;;;;;;;;gains = new Gains(kp, ki, kd, kf, 0);
-	}
+;;;;}
 
-	public PelvicInflamitoryDisease(Gains gains) {
+;;;;public PelvicInflamitoryDisease(Gains gains) {
-		this.gains = gains;
+;;;;;;;;this.gains = gains;
-	}
+;;;;}
 
-	/** produces the error from the setpoint */
+;;;;/** produces the error from the setpoint */
-	public abstract double getError();
+;;;;public abstract double getError();
-	/** figure it out bitch */
+;;;;/** figure it out bitch */
-	public abstract void runWithOutput(double output);
+;;;;public abstract void runWithOutput(double output);
 
-	// Called when the command is initially scheduled.
+;;;;// Called when the command is initially scheduled.
-	@Override
+;;;;@Override public void initialize() {
-	public void initialize() {
+;;;;;;;;output = 0;
-		output = 0;
+;;;;}
-	}
 
-	private double prevError, cumError = 0;
+;;;;private double prevError, cumError = 0;
-	// Called every time the scheduler runs while the command is scheduled.
+;;;;// Called every time the scheduler runs while the command is scheduled.
-	@Override
+;;;;@Override public void execute() {
-	public void execute() {
+;;;;;;;;double error = getError();
-		double error = getError();
+;;;;;;;;cumError += error * .02; // 20 ms
-		cumError += error * .02; // 20 ms
+;;;;;;;;double delta = error - prevError;
-		double delta = error - prevError;
 
-		output = error * gains.kP;
+;;;;;;;;output = error * gains.kP;
-		output += cumError * gains.kI;
+;;;;;;;;output += cumError * gains.kI;
-		output += delta * gains.kD;
+;;;;;;;;output += delta * gains.kD;
-		output += gains.kF;
+;;;;;;;;output += gains.kF;
 
-		runWithOutput(output);
+;;;;;;;;runWithOutput(output);
-	}
+;;;;}
 
-	// Called once the command ends or is interrupted.
+;;;;// Called once the command ends or is interrupted.
-	@Override
+;;;;@Override public void end(boolean interrupted) {}
-	public void end(boolean interrupted) {}
 
-	// Returns true when the command should end.
+;;;;// Returns true when the command should end.
-	@Override
+;;;;@Override public boolean isFinished() { return false; }
-	public boolean isFinished() {
-		return false;
-	}
 }