No problem
Here is the code I have so far if anybody has any suggestions. The way PIDController works is it creates a thread and does the PID calculations and takes care of the input and output for you. But what do I set the output to to cause the robot to rotate? My guess is create a class that implements PIDOutput and do the rotation code myself. If anybody else knows a better way please inform me.
PIDController turn = new PIDController(DRIVE_P, DRIVE_I, DRIVE_D, gyro,?);
turn.setTolerance(0.05);
turn.setSetpoint(angle);
turn.setContinuous();
turn.enable();