configure

module.configure {
    driveGearRatio = 6.75
    steerGearRatio = 21.43
    wheelDiameter = Units.Meters.of(0.1016)
    drivePingu.apply {
        p = 0.1
        v = 0.12
        s = 0.2
    }
    steerPingu.apply {
        p = 100.0
        d = 0.1
    }
}