If I wanted to include the PID gains in my chassis controller builder, do I just add .withGains along with the PID gains in the builder to access the PID functionality?
std::shared_ptr<ChassisController> drive =
ChassisControllerBuilder()
.withMotors({1, 2,}, {3, 4})
.withDimensions(AbstractMotor::gearset::green, {{4_in, 11.5_in}, imev5GreenTPR})
.withGains(
{0.001, 0, 0.0001},
{0.001, 0, 0.0001},
{0.001, 0, 0.0001})
.build();