public void setPidMode(int newMode){
        m_pidMode = newMode;
        if (newMode==ROTATE_TO_ANGLE_MODE){
            getPIDController().setOutputRange(-12.0, 12.0);
            getPIDController().setPID(0.125, 0, 0);
            getPIDController().setAbsoluteTolerance(20);
        }else if(newMode == DRIVE_TO_ANGLE_MODE){
            getPIDController().setOutputRange(-4.0, 4.0);
            getPIDController().setPID(0.125, 0, 0);
            getPIDController().setAbsoluteTolerance(2);            
        }else if(newMode == DRIVE_TO_DISTANCE_MODE){
            getPIDController().setOutputRange(-8, 8.0);
            getPIDController().setPID(0.45, .013, 0.0);
            getPIDController().setAbsoluteTolerance(2);
        }
    }