message: Cleaned up Java
diff: @@ -10,14 +10,14 @@ public class LaunchPidController {
  private double tprev; // previous time for computing dt
  - public LaunchPidController(double target, double Kp_z, double Kp_dz, double Ki_dz, double windupMax)
  + public LaunchPidController(double target, double Kp, double Ki, double windupMax)
  {
  - construct(target, Kp_z, Kp_dz, Ki_dz, windupMax);
  + construct(target, Kp, Ki, windupMax);
  }
  - public LaunchPidController(double target, double Kp_z, double Kp_dz, double Ki_dz)
  + public LaunchPidController(double target, double Kp, double Ki)
  {
  - construct(target, Kp_z, Kp_dz, Ki_dz, 10.0);
  + construct(target, Kp, Ki, 10.0);
  }
  /**
  @@ -32,8 +32,7 @@ public class LaunchPidController {
  double dt = t - tprev;
  // Compute dzdt setpoint and error
  - double dzTarget = (_target - z) * _Kp_z;
  - double dzError = dzTarget - dz;
  + double dzError = (_target - z) - dz;
  // Update error integral and error derivative
  _integralError += dzError * dt;
  @@ -41,7 +40,7 @@ public class LaunchPidController {
  // Compute control for throttle
  double [] u = new double[4];
  - u[0] = _Kp_dz * dzError + _Ki_dz * _integralError;
  + u[0] = _Kp * dzError + _Ki * _integralError;
  // If time is between five and six seconds, set pitch to a very small value (.001)
  if (5<t && t<6){
  @@ -55,22 +54,20 @@ public class LaunchPidController {
  }
  private double _target;
  - private double _Kp_z;
  - private double _Kp_dz;
  - private double _Ki_dz;
  + private double _Kp;
  + private double _Ki;
  private double _windupMax;
  private double _posTarget;
  private double _integralError;
  - private void construct(double target, double Kp_z, double Kp_dz, double Ki_dz, double windupMax)
  + private void construct(double target, double Kp, double Ki, double windupMax)
  {
  // In a real PID controller, this would be a set-point
  _target = target;
  // Constants
  - _Kp_z = Kp_z;
  - _Kp_dz = Kp_dz;
  - _Ki_dz = Ki_dz;
  + _Kp = Kp;
  + _Ki = Ki;
  _windupMax = windupMax;
  // Values modified in-flight
  