public static float TurnLoop(ref Controller logitechController, ref SerialCommsHandler NUC_SerialConnection) { const float BEGIN_RAMP_DOWN_AT = 15; //DEGREES float yaw = NUC_SerialConnection.GetVisionOrientation_HopperLineup().yaw; float driveSpeed = Controls.ControlAlgorithms.P_Loop(yaw, BEGIN_RAMP_DOWN_AT, 0); logitechController.AXES.LEFT_Y = -driveSpeed; logitechController.AXES.RIGHT_Y = driveSpeed; return(driveSpeed); }