public void set(double kpPosition, double zetaPosition, double kiPosition, double maxIntegralPosError, double kpOrientation, double zetaOrientation, double kiOrientation, double maxIntegralOriError) { double kdPosition = GainCalculator.computeDerivativeGain(kpPosition, zetaPosition); setPositionGains(kpPosition, kdPosition, kiPosition, maxIntegralPosError); double kdOrientation = GainCalculator.computeDerivativeGain(kpOrientation, zetaOrientation); setOrientationGains(kpOrientation, kdOrientation, kiOrientation, maxIntegralOriError); }