drive.java

public void driveProportional(double angle, Direction direction, double ratio, double kp, double timeout) {
        MasqClock clock = new MasqClock();
        MasqPIDController controller = new MasqPIDController(kp, 0, 0);
        double out = controller.getOutput(tracker.imu.getRelativeYaw(), angle);
        double rightRatio = 1, leftRatio = 1;
        if (direction == Direction.RIGHT) rightRatio = ratio;
        else leftRatio = ratio;
        while (opModeIsActive() && out > 0.1 && !clock.elapsedTime(3, MasqClock.Resolution.SECONDS)) {
            out = controller.getOutput(tracker.imu.getRelativeYaw(), angle);
            driveTrain.setVelocity(out * leftRatio, out * rightRatio);
        }
        driveTrain.setVelocity(0);
    }
    public void driveProportional(double angle, Direction direction, double ratio, double kp) {
        driveProportional(angle, direction, ratio, kp, 2);
    }
    public void driveProportional(double angle, Direction direction, double ratio) {
        driveProportional(angle, direction, ratio, 0.3);
    }