@Override public double[] getProportionalGains() { fillFromMap(kpMap, tempProportionalGains); return tempProportionalGains; }
@Override public double[] getIntegralGains() { if (!usingIntegrator) { for (int i = 0; i < 3; i++) { tempIntegralGains[i] = 0.0; } return tempIntegralGains; } fillFromMap(kiMap, tempIntegralGains); return tempIntegralGains; }