class Drive_PID_Tuner {
public:
    Drive_PID_Tuner (pros::Controller* controller, lemlib::PID* pid);
    void print_values ();
    void change_values ();

    pros::Controller* controller;
    lemlib::PID* pid;
};

void Drive_PID_Tuner::print_values () {
    this->controller->print(0, 0, "P: %f", this->pid->p_gain);
    this->controller->print(1, 0, "I: %f", this->pid->i_gain);
    this->controller->print(2, 0, "D: %f," this->pid->d_gian);
}

void Drive_PID_Tuner::change_values () {
    double p = this->pid->p_gain;
    double i = this->pid->i_gain;
    double d = this->pid->d_gain;
    if (this->controller->get_digital(pros::E_CONTROLLER_DIGITAL_UP)) {
        p += 0.1;
        pros::delay(100);
    } else if (this->controller->get_digital(pros::E_CONTROLLER_DIGITAL_DOWN)) {
        p -= 0.1;
        pros::delay(100);
    } else if (this->controller->get_digital(pros::E_CONTROLLER_DIGITAL_Y)) {
        i += 0.01;
        pros::delay(100);
    } else if (this->controller->get_digital(pros::E_CONTROLLER_DIGITAL_X)) {
        i -= 0.01;
        pros::delay(100);
    } else if (this->controller->get_digital(pros::E_CONTROLLER_DIGITAL_A)) {
        d += 1.0;
        pros::delay(100);
    } else if (this->controller->get_digital(pros::E_CONTROLLER_DIGITAL_B)) {
        d -= 1.0;
        pros::delay(100);
    }
    if (p < 0.0) p = 0.0;
    if (i < 0.0) i = 0.0;
    if (d < 0.0) d = 0.0;
}