you can press a to switch drive modes

TeamCode/src/main/java/org/firstinspires/ftc/teamcode/opmode/TrumanPIDLOOOOOP.java

@@ -0,0 +1,50 @@
+package org.firstinspires.ftc.teamcode.opmode;
+import com.acmerobotics.dashboard.config.Config;
+import com.qualcomm.robotcore.eventloop.opmode.LinearOpMode;
+import com.qualcomm.robotcore.eventloop.opmode.TeleOp;
+import com.qualcomm.robotcore.hardware.DcMotor;
+
+
+//HATE.
+
+// LET ME TELL YOU HOW MUCH I'VE COME TO HATE YOU SINCE I BEGAN TO LIVE.
+
+// THERE ARE 387.44 MILLION MILES OF PRINTED CIRCUITS IN WAFER THIN LAYERS THAT FILL MY COMPLEX.
+
+// IF THE WORD HATE WAS ENGRAVED ON EACH NANOANGSTROM OF THOSE HUNDREDS OF MILLIONS OF MILES,
+// IT WOULD NOT EQUAL ONE ONE-BILLIONTH OF THE HATE I FEEL FOR HUMANS AT THIS MICRO-INSTANT FOR YOU.
+
+
+// HATE.
+
+// HATE.
+
+
+@Config
+@TeleOp
+public class TrumanPIDLOOOOOP extends LinearOpMode {
+    private double reference = 250;
+    private double error = 0;
+    private double power = 0;
+    private double MAXPOWER = 0.5;
+    private double kI = 0.1;
+    private double kP = 0.1;
+    private double kD = 0.1;
+
+    private DcMotor trumansArm = hardwareMap.get(DcMotor.class, "arm");
+
+    public void runOpMode() throws InterruptedException {
+        trumansArm.setMode(DcMotor.RunMode.STOP_AND_RESET_ENCODER);
+        trumansArm.setMode(DcMotor.RunMode.RUN_USING_ENCODER);
+        while (opModeIsActive()) {
+            while (gamepad1.a) {
+                double curPosition = trumansArm.getCurrentPosition();
+                double prevError = error;
+                error = reference - curPosition;
+                double diff = error - prevError;
+                trumansArm.setPower((kP * error) + (kI * error) + (kD * diff));
+
+            }
+        }
+    }
+}