{"action":"created","comment":{"url":"https://api.github.com/repos/Spikes-2212-Programming-Guild/Spikes-Lib/pulls/comments/165275535","pull_request_review_id":93179564,"id":165275535,"diff_hunk":"@@ -11,106 +11,81 @@\n import edu.wpi.first.wpilibj.command.Command;\n \n /**\n- * This command moves a {@link TankDrivetrain} using wpilib's\n- * {@link PIDController}. It also waits a specified amount of time after the\n- * error is within the given tolerance before stopping the PID Loop to make sure\n- * the drivetrain doesn't go past and remain beyond the setpoint.\n+ * This command moves a {@link TankDrivetrain} using wpilib's <a href=\n+ * \"http://first.wpi.edu/FRC/roborio/release/docs/java/edu/wpi/first/wpilibj/PIDController.html\">PIDController</a>.\n+ * It also waits a specified amount of time after the {@link TankDrivetrain} is\n+ * within the given tolerance before stopping, to make sure the\n+ * {@link TankDrivetrain} doesn't go past the setpoint.\n+ *\n+ * <br>\n+ * <br>\n+ * This command will try to move subsystem until it reaches the latest value\n+ * supplied by setpoint. The setpoint should use values using the same units as\n+ * the <a href=\n+ * \"http://first.wpi.edu/FRC/roborio/release/docs/java/edu/wpi/first/wpilibj/PIDSource.html\">PIDSources</a>.\n  *\n  * @author Omri \"Riki\" Cohen\n  * @see TankDrivetrain\n- * @see PIDController\n- * @see PIDSettings\n- */\n+ * @see <a href=\n+ *      \"http://first.wpi.edu/FRC/roborio/release/docs/java/edu/wpi/first/wpilibj/PIDSource.html\">PIDSource</a>\n+ * @see <a href=\n+ *      \"http://first.wpi.edu/FRC/roborio/release/docs/java/edu/wpi/first/wpilibj/PIDController.html\">PIDController</a>\n+ **/\n public class DriveTankWithPID extends Command {\n \n \tprotected final TankDrivetrain tankDrivetrain;\n \tprotected final Supplier<Double> leftSetpoint;\n \tprotected final Supplier<Double> rightSetpoint;\n \tprotected final PIDSettings PIDSettings;\n-\tprotected final PIDSource leftSource;\n-\tprotected final PIDSource rightSource;\n \tprotected PIDController leftMovmentControl;\n \tprotected PIDController rightMovmentControl;\n \tprotected double lastTimeNotOnTarget;\n \n \t/**\n-\t * Gets the PIDSetting the PIDController uses for this command.\n-\t * \n-\t * @return The PIDSetting the PIDController uses\n-\t * @see PIDSettings\n-\t * @see PIDController\n-\t */\n-\tpublic PIDSettings getPIDSetting() {\n-\t\treturn PIDSettings;\n-\t}\n-\n-\t/**\n-\t * Sets the tolerance for error of this PID loop.\n-\t * <p>\n-\t * This tolerance defines when this PID loop ends: This command will end\n-\t * after the difference between the setpoint and the current position is\n-\t * within the tolerance for the amount of time specified by\n-\t * {@link #setWaitTime(double)} straight.\n-\t * </p>\n-\t *\n-\t * @param tolerance\n-\t *            The new tolerance to set. If 0, this PID loop will never end.\n-\t * @see PIDController#setAbsoluteTolerance(double)\n-\t * @see PIDController#getTolerance\n+\t * The <a href=\n+\t * \"http://first.wpi.edu/FRC/roborio/release/docs/java/edu/wpi/first/wpilibj/PIDSource.html\">PIDSource<a>\n+\t * the left side this subsystem uses, given by\n+\t * {@link BasicSubsystem#getPIDSource()}.\n \t */\n-\tpublic void setTolerance(double tolerance) {\n-\t\tPIDSettings.setTolerance(tolerance);\n-\t}\n+\tprotected final PIDSource leftSource;\n \n \t/**\n-\t * Sets the time this PID loop will wait while within tolerance of the\n-\t * setpoint before ending.\n-\t * <p>\n-\t * The PID control of the subsystem continues while waiting. <br/>\n-\t * If wait time is set to 0, the command won't wait.\n-\t * </p>\n-\t *\n-\t * @param waitTime\n-\t *            the new wait time, in seconds.\n+\t * The <a href=\n+\t * \"http://first.wpi.edu/FRC/roborio/release/docs/java/edu/wpi/first/wpilibj/PIDSource.html\">PIDSource<a>\n+\t * the right side this subsystem uses, given by\n+\t * {@link BasicSubsystem#getPIDSource()}.\n \t */\n-\tpublic void setWaitTime(double waitTime) {\n-\t\tPIDSettings.setWaitTime(waitTime);\n-\t}\n+\tprotected final PIDSource rightSource;\n \n \t/**\n-\t * This constructs a new {@link DriveTankWithPID} using {@link PIDSource}s\n-\t * the setpoints for each side, the PID coefficients this command's PID loop\n-\t * should have, and the tolerance for error.\n+\t * This constructs a new {@link DriveTankWithPID} using <a href=\n+\t * 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