Mr. Purring with Untuned PID control

// Copyright (c) FIRST and other WPILib contributors.
// Open Source Software; you can modify and/or share it under the terms of
// the WPILib BSD license file in the root directory of this project.

package frc.robot;

import edu.wpi.first.wpilibj.smartdashboard.SmartDashboard;
import edu.wpi.first.wpilibj.Encoder;
import edu.wpi.first.wpilibj.XboxController;
import edu.wpi.first.wpilibj.TimedRobot;
import edu.wpi.first.wpilibj.drive.DifferentialDrive;
import edu.wpi.first.wpilibj.motorcontrol.MotorController;
import edu.wpi.first.wpilibj.motorcontrol.PWMSparkMax;
import edu.wpi.first.cameraserver.CameraServer;
import edu.wpi.first.cscore.UsbCamera;
import edu.wpi.first.wpilibj.motorcontrol.MotorControllerGroup;
import edu.wpi.first.math.controller.PIDController;


public class Robot extends TimedRobot {
  
//Differential Drive
    private DifferentialDrive m_myRobot;

//Declaring The port that the xbox controller will use in smart dashboard
    private XboxController cplusplus = new XboxController(0);
  
//This is setting up the camera to read from usb port zero
UsbCamera Cameranumber1 = CameraServer.startAutomaticCapture(0); 

//Motor names and their respective pwm ports
    private final MotorController front_leftMotor = new PWMSparkMax(2);
    private final MotorController front_rightMotor = new PWMSparkMax(0);
    private final MotorController rear_leftMotor = new PWMSparkMax(3);
    private final MotorController rear_rightMotor = new PWMSparkMax(1);
  
//Allows multiple motors to be controlled with the differential drive
    MotorControllerGroup LeftMotors = new MotorControllerGroup(front_leftMotor,rear_leftMotor);
    MotorControllerGroup RightMotors = new MotorControllerGroup(front_rightMotor,rear_rightMotor);

//Encoder Names
    Encoder encoder1, encoder2, encoder3, encoder4;

//PID controller values
    PIDController pidleft;
    PIDController pidright;
    double kpleft = 0;
    double kileft = 0;
    double kdleft = 0;
    double kpright = 0;
    double kiright = 0;
    double kdright = 0;
  

//Values for encoders
    private static final double cpr = 360; //this is representative of the resolution of the encoders
    private static final double whd = 8;  //this variable is representative of the 8 inch wheel diameter

@Override
public void robotInit() {

/* We need to invert one side of the drivetrain so that positive voltages
result in both sides moving forward*/ 
    front_rightMotor.setInverted(true);
    rear_rightMotor.setInverted(true);

//Creating a differntial drive
    m_myRobot = new DifferentialDrive(LeftMotors, RightMotors);
  
//Declaring the ports that the encoders are plugged into
    encoder1 = new Encoder(0,1);
    encoder2 = new Encoder(2,3);
    encoder3 = new Encoder(4,5);
    encoder4 = new Encoder(6,7);

//Setting the distance per pulse on encoders
    encoder1.setDistancePerPulse(Math.PI*whd/cpr);
    encoder2.setDistancePerPulse(Math.PI*whd/cpr);
    encoder3.setDistancePerPulse(Math.PI*whd/cpr);
    encoder4.setDistancePerPulse(Math.PI*whd/cpr);

//Declaring the names of the PID controllers     
    pidleft = new PIDController(kpleft, kileft, kdleft);
    pidright = new PIDController(kpright, kiright, kdright);

  }

  @Override
public void teleopPeriodic() {

//This is a type of differential drive that controls each side of the robot independently
    m_myRobot.tankDrive((pidleft.calculate(encoder1.getRate(), cplusplus.getRawAxis(1)/2)), (pidright.calculate(encoder2.getDistance(), cplusplus.getRawAxis(5)/2)));
   
//Displaying the encoder values to Smart dashboard
    SmartDashboard.putNumber("Encoder1", encoder1.getRate());
    SmartDashboard.putNumber("Encoder2", encoder2.getRate());
    SmartDashboard.putNumber("Encoder3", encoder3.getRate());
    SmartDashboard.putNumber("Encoder4", encoder4.getRate());
  
  }
}