[Ether]

Originally Posted by tuXguy15

So Kp would be the value of the angle?

From the source code that came with your Java installation:

    /**
     * Allocate a PID object with the given constants for P, I, D, and F
     * @param Kp the proportional coefficient
     * @param Ki the integral coefficient
     * @param Kd the derivative coefficient
     * @param Kf the feed forward term
     * @param source The PIDSource object that is used to get values
     * @param output The PIDOutput object that is set to the output percentage
     * @param period the loop time for doing calculations. This particularly effects calculations of the
     * integral and differential terms. The default is 50ms.
     */
    public PIDController(double Kp, double Ki, double Kd, double Kf,
            PIDSource source, PIDOutput output,
            double period) {