[ThomasClark]

Originally Posted by mlyhoops

So in this example the PIDController constructor only has 1 output source. What happens if I am trying to use 6 motors? (Since it is the drive train)

So these are all separate speed controllers? In that case, you could use a lambda to set all of them.

PIDController pid = new PIDController(0.8, 0.01, 0.2, gyro, speed -> {
	frontLeft.set(speed);
	centerLeft.set(speed);
	backLeft.set(speed);
	
	frontRight.set(-speed);
	centerRight.set(-speed);
	backRight.set(-speed);
});

double setpoint = calculateSetpoint();
pid.setSetpoint(setpoint);