public PIDTuner(float initialPGain, float initialDGain, int stepsPerIteration, PIDController controller) { gains = new float[2]; deltas = new float[] { 0.1f, 0.1f }; gains[0] = controller.PGain = initialPGain; gains[1] = controller.DGain = initialDGain; this.stepsPerIteration = stepsPerIteration; this.controller = controller; numSteps = 0; totalcte = 0f; BestAvgCTE = float.MaxValue; currGain = 0; }