public void setGains(double proportionalGain, double derivativeGain, double integralGain, double maxIntegralError, double kdReductionRatio,
double parallelDampingDeadband, double positionErrorForMinimumKd)
{
setProportionalGains(proportionalGain, proportionalGain, proportionalGain);
setDerivativeGains(derivativeGain, derivativeGain, derivativeGain);
setIntegralGains(integralGain, integralGain, integralGain, maxIntegralError);
setTangentialDampingGains(kdReductionRatio, parallelDampingDeadband, positionErrorForMinimumKd);
}