Custom PI Loop not working

[Ether]

Originally Posted by Cinnamon Toast

I've got different methods for drive base, shooter angle, and intake articulation as all will need different Kp and Ki values.

Why would needing different Kp and Ki values for different instantiations require writing different methods?

[Cinnamon Toast]

It really wouldn't but I'll be honest and say that I was lazy and didn't want to put in the effort to find a cleaner way to do it.