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); }