public void setSetpointRelative(double setpoint){
        if(m_pidMode == DRIVE_TO_DISTANCE_MODE){
            super.setSetpoint(ultrasonic.getRangeInches());
            super.setSetpointRelative(setpoint);
        }else if(m_pidMode == DRIVE_TO_ANGLE_MODE || m_pidMode == ROTATE_TO_ANGLE_MODE){
            super.setSetpoint(gyro.getAngle());
            super.setSetpointRelative(setpoint);
        }
    }