change a name and add the pid controller to constans

Author: eilonhuppert

src/main/java/frc/robot/Constants.java

@@ -12,6 +12,7 @@
 import edu.wpi.first.apriltag.AprilTagFields;
 import edu.wpi.first.math.Matrix;
 import edu.wpi.first.math.VecBuilder;
+import edu.wpi.first.math.controller.PIDController;
 import edu.wpi.first.math.geometry.Pose2d;
 import edu.wpi.first.math.geometry.Rotation2d;
 import edu.wpi.first.math.geometry.Rotation3d;
@@ -27,7 +28,7 @@
 import edu.wpi.first.math.numbers.N3;
 
 public final class Constants {
-    
+
     public static final double stickDeadband = 0.1;
 
     public static final class IntakeArm{ //TODO: This must be tuned to specific robot
@@ -57,7 +58,8 @@ public static final class IntakeArm{ //TODO: This must be tuned to specific robo
 
     }
     public static final class Swerve {
-        public static final double minimumErrorTurn = 0; // TODO: This must be tuned to specific robot
+        public static final double minimumErrorAligning = 0; // TODO: This must be tuned to specific robot
+        public static final PIDController swervePID = new PIDController(0, 0, 0);
 
         public static final int pigeonID = 10;
         public static final boolean invertGyro = false; // Always ensure Gyro is CCW+ CW-

src/main/java/frc/robot/commands/SwerveCommands/AlignToSpeaker.java

@@ -5,7 +5,7 @@
 package frc.robot.commands.SwerveCommands;
 
 import static frc.robot.Constants.IntakeArm.minimumError;
-import static frc.robot.Constants.Swerve.minimumErrorTurn;
+import static frc.robot.Constants.Swerve.*;
 
 import edu.wpi.first.math.controller.PIDController;
 import edu.wpi.first.math.geometry.Rotation2d;
@@ -19,7 +19,7 @@
 public class AlignToSpeaker extends Command {
   /** Creates a new TurnToDegree. */
   SwerveSubsystem swerve = SwerveSubsystem.getInstance();
-  private PIDController pid = new PIDController(0, 0, 0);
+  private PIDController pid = swervePID;
   private Vision vision = Vision.getInstance();
   double angleFromTarget = vision.GetAngleFromTarget().getDegrees();
 
@@ -47,7 +47,7 @@ public void end(boolean interrupted) {}
   // Returns true when the command should end.
   @Override
   public boolean isFinished() {
-    return Math.abs(vision.GetAngleFromTarget().getDegrees() - 180) < minimumErrorTurn ;
+    return Math.abs(vision.GetAngleFromTarget().getDegrees() - 180) < minimumErrorAligning ;
   }
 
   public void optimize() {