float previousError;
int integral;
float turnPID(int angle){
    const float Kp = 3;
	const float Ki = 0.0;
	const float Kd = 0.0;
	float error;
	int derivative;
	int motorSpeed;

    error = (angle) - avg(Gyro2.value(vex::rotationUnits::deg), Gyro1.value(vex::rotationUnits::deg)); //calculate proportional error
	integral += error; //calculate integral of error
	derivative = error - previousError; //calculate derivative of drive movement
	previousError = error; //current error for next loop
	if (error > .5) { integral = 0; }

	motorSpeed = (Kp*error) + (Ki*integral) + (Kd*derivative); //setting power level for motors

    if (motorSpeed > 50) { motorSpeed = 50; }
    else if (motorSpeed < -50) { motorSpeed = -50; }

	return -motorSpeed;
}

void autonTurn(int angle, int time){
    int timeout = time;
    while (timeout > 0){

        frontLeftDrive.spin(vex::directionType::rev,turnPID(angle),vex::velocityUnits::rpm);
        midLeftDrive.spin(vex::directionType::rev,turnPID(angle),vex::velocityUnits::rpm);
        backLeftDrive.spin(vex::directionType::rev,turnPID(angle),vex::velocityUnits::rpm);
        frontRightDrive.spin(vex::directionType::rev,turnPID(angle),vex::velocityUnits::rpm);
        midRightDrive.spin(vex::directionType::rev,turnPID(angle),vex::velocityUnits::rpm);
        backRightDrive.spin(vex::directionType::rev,turnPID(angle),vex::velocityUnits::rpm);
        /*
        frontLeftDrive.startRotateFor(-rev(dist),vex::rotationUnits::rev,150,vex::velocityUnits::rpm);
        midLeftDrive.startRotateFor(-rev(dist),vex::rotationUnits::rev,150,vex::velocityUnits::rpm);
        backLeftDrive.startRotateFor(-rev(dist),vex::rotationUnits::rev,150,vex::velocityUnits::rpm);
        frontRightDrive.startRotateFor(-rev(dist),vex::rotationUnits::rev,150,vex::velocityUnits::rpm);
        midRightDrive.startRotateFor(-rev(dist),vex::rotationUnits::rev,150,vex::velocityUnits::rpm);
        backRightDrive.startRotateFor(-rev(dist),vex::rotationUnits::rev,150,vex::velocityUnits::rpm);
        */
        vex::task::sleep(10);
        timeout -= 10;
    }
    frontLeftDrive.stop();
    midLeftDrive.stop();
    backLeftDrive.stop();
    frontRightDrive.stop();
    midRightDrive.stop();
    backRightDrive.stop();
}

//to call turn function in auton
autonTurn(90, 2500); //turn 90 degrees counterclockwise and run PID for 1.2 sec