s PIDLoop {

warning: LF will be replaced by CRLF in src/main/java/frc/util/PIDLoop.java.
The file will have its original line endings in your working directory.
diff --git a/src/main/java/frc/robot/Robot.java b/src/main/java/frc/robot/Robot.java
index 430bf6e..7fc2b7a 100644
--- a/src/main/java/frc/robot/Robot.java
+++ b/src/main/java/frc/robot/Robot.java
@@ -167,14 +167,13 @@ public class Robot extends TimedRobot {
     if(driverJoystick.getRawButton(Constants.XBOX_BUTTON_Y)) {
       Scheduler.getInstance().add(new DriveGyroOneSide(tankDrive, 20, "right"));
     }
-
     if(driverJoystick.getRawButton(Constants.XBOX_BUTTON_TWO_WINDOWS)) {
       Scheduler.getInstance().add(new DriveGyroOneSide(tankDrive, -20, "right"));
     }
 
-    if(driverJoystick.getRawButton(Constants.XBOX_BUTTON_THREE_LINES)) {
-      Gyro.reset();
-    }
+    // if(driverJoystick.getRawButton(Constants.XBOX_BUTTON_THREE_LINES)) {
+    //   Gyro.reset();
+    // }
 
 
     // if(driverJoystick.getRawButton(Constants.XBOX_BUTTON_LEFT_BUMPER)) {
diff --git a/src/main/java/frc/util/PIDLoop.java b/src/main/java/frc/util/PIDLoop.java
index 914d232..c446a2f 100644
--- a/src/main/java/frc/util/PIDLoop.java
+++ b/src/main/java/frc/util/PIDLoop.java
@@ -20,10 +20,12 @@ public class PIDLoop {
 
   private double target;
 
+  private double izone;
+
   private double accum;
   private double lastError = -9999;
 
-  public PIDLoop(double p, double i, double d, double dt, double target) {
+  public PIDLoop(double p, double i, double d, double izone, double dt, double target) {
     this.p = p;
     this.i = i;
     this.d = d;
@@ -31,6 +33,7 @@ public class PIDLoop {
     this.target = target;
 
     this.accum = 0;
+    this.izone = -1;
   }
 
   public double getP() {
@@ -63,6 +66,7 @@ public class PIDLoop {
     double p_out = p * error;
 
     accum += error * dt;
+    if(izone > 0 && Math.abs(accum) > izone) accum = 0;
     double i_out = i * accum;
 
     double d_out = 0;