public TargetPIDTilt(Target target, double timeout, boolean continuous){
        super(target,Target.Axis.Y,timeout,continuous,
              0.7, 0.15, 1, // P, I, D
              0.7,1,        // tolerance, maxOutput
              1.5/10);      // period - high to allow for network latency.
        requires(Robot.tilter);
        setSetpoint(0);
    }