@@ -0,0 +1,511 @@
+package org.firstinspires.ftc.team7316.util;%0A%0A/**%0A * A class for PID%0A */%0Apublic class PIDGenerator %7B%0A%0A    private final double p, i, d;%0A%0A    private double previous, sum;%0A%0A    public PIDGenerator(double p, double i, double d) %7B%0A        this.p = p;%0A        this.i = i;%0A        this.d = d;%0A    %7D%0A%0A    public double pushError(double error) %7B%0A        sum += error;%0A        double delta = previous - error;%0A        double output = p*error + i*sum + d*delta;%0A        previous = error;%0A        return output;%0A    %7D%0A%0A%7D%0A

Create a helper class for PID