            ygains : PIDGains (default = PIDGains(1, 0, 0))
        Returns:
            vel : (class utils.states.Velocity) with the required velocity commands
    """

    def __init__(
        self, maxX=0.25, maxY=0.25, xgains=PIDGains(1, 0, 0), ygains=PIDGains(1, 0, 0)
    ):
        super(OmniWheelPID, self).__init__()