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; }