public Cannon()
{
angleMotor.SetNeutralMode(NeutralMode.Brake);
angleMotor.ConfigPeakOutputForward(0.5f);
angleMotor.ConfigPeakOutputReverse(-0.5f);
angleMotor.ConfigSelectedFeedbackSensor(FeedbackDevice.Analog);
angleMotor.ConfigSelectedFeedbackCoefficient(1.0f);
angleMotor.Config_kP(0.001f);
revolverMotor.SetInverted(true);
revolverMotor.SetNeutralMode(NeutralMode.Brake);
revolverMotor.ConfigPeakOutputForward(0.5f);
revolverMotor.ConfigPeakOutputReverse(0.5f);
revolverMotor.ConfigContinuousCurrentLimit(20);
revolverMotor.ConfigPeakCurrentLimit(0);
revolverMotor.ConfigPeakCurrentDuration(0);
revolverMotor.EnableCurrentLimit(true);
_setpoint = Angle;
}