added more constants and made each implmemetation have its own pid

src/main/java/frc/robot/constants/ClawConstants.java

@@ -7,5 +7,7 @@ public class ClawConstants {
     public static DCMotor smallGearBox;
     public static double gearing = 0.1;
     public static double kP = 0.0;
+    public static double kI = 0.0;
+    public static double kD = 0.0;
     public static double mainSetpoint = 1.0;
 }

src/main/java/frc/robot/subsystems/ClawSubsystem/EndEffectorIO.java

@@ -6,20 +6,18 @@
 
 public interface EndEffectorIO {
 
-    final PIDController pid = new PIDController(ClawConstants.kP, 0, 0);
-
     @AutoLog
     public class EndEffectorInputsAutoLogged {  //autolog volts
         public double centralVolts = 0.0;
         public double gripperVolts = 0.0;
     }
 
-    public default void setupPID(double errorTolerance, double errorDerivativeTolerance, double minimumIntegral, double maximumIntegral) {
+    public default void setupPID(PIDController pid, double errorTolerance, double errorDerivativeTolerance, double minimumIntegral, double maximumIntegral) {
         pid.setTolerance(errorTolerance, errorDerivativeTolerance);
         pid.setIntegratorRange(minimumIntegral, maximumIntegral);
     }
 
-    public default double pidCalculate(EndEffectorEncoderIO encoder, double setpoint) {
+    public default double pidCalculate(PIDController pid, EndEffectorEncoderIO encoder, double setpoint) {
         return pid.calculate(encoder.getDistance(), setpoint);
     }
 

src/main/java/frc/robot/subsystems/ClawSubsystem/EndEffectorIOSim.java

@@ -1,5 +1,6 @@
 package frc.robot.subsystems.ClawSubsystem;
 
+import edu.wpi.first.math.controller.PIDController;
 import edu.wpi.first.math.system.plant.LinearSystemId;
 import edu.wpi.first.wpilibj.simulation.DCMotorSim;
 import frc.robot.constants.ClawConstants;
@@ -16,20 +17,22 @@ public class EndEffectorIOSim implements EndEffectorIO {
             ClawConstants.smallGearBox
     );
 
+    final PIDController pid = new PIDController(ClawConstants.kP, ClawConstants.kI, ClawConstants.kD);
+
     public EndEffectorIOSim() {
-        setupPID(3.0, 5.0, -0.5, 0.5); //change pid settings
+        setupPID(pid, 3.0, 5.0, -0.5, 0.5); //change pid settings
     }
 
     private final EndEffectorEncoderIOSim encoder = new EndEffectorEncoderIOSim();
 
     @Override
     public void centralToSetpoint(double setpoint) { //move wheels to setpoint
-        setCentralVelocity(pidCalculate(encoder, setpoint));
+        setCentralVelocity(pidCalculate(pid, encoder, setpoint));
     }
 
     @Override
     public void grippersToSetpoint(double setpoint) {
-        setGrippersVelocity(pidCalculate(encoder, setpoint));
+        setGrippersVelocity(pidCalculate(pid, encoder, setpoint));
     }
 
     @Override

src/main/java/frc/robot/subsystems/ClawSubsystem/EndEffectorIOSparkMax.java

@@ -1,6 +1,7 @@
 package frc.robot.subsystems.ClawSubsystem;
 import com.revrobotics.spark.SparkLowLevel;
 import com.revrobotics.spark.SparkMax;
+import edu.wpi.first.math.controller.PIDController;
 import frc.robot.constants.ClawConstants;
 
 
@@ -10,20 +11,22 @@ public class EndEffectorIOSparkMax implements EndEffectorIO {
     private final EndEffectorEncoderIO encoder;
 
     public EndEffectorIOSparkMax(int canID, int smallCanID, EndEffectorEncoderIOSim encoder) {
-        setupPID(3.0, 5.0, -0.5, 0.5); //change pid setting
+        setupPID(pid, 3.0, 5.0, -0.5, 0.5); //change pid setting
         centralWheel = new SparkMax(canID, SparkLowLevel.MotorType.kBrushless); //big
         gripperWheels = new SparkMax(smallCanID, SparkLowLevel.MotorType.kBrushless); //small
         this.encoder = encoder;
     }
 
+    final PIDController pid = new PIDController(ClawConstants.kP, ClawConstants.kI, ClawConstants.kD);
+
     @Override
     public void centralToSetpoint(double setpoint) { //move wheels to setpoint
-        setCentralVelocity(pidCalculate(encoder, setpoint));
+        setCentralVelocity(pidCalculate(pid, encoder, setpoint));
     }
 
     @Override
     public void grippersToSetpoint(double setpoint) {
-        setGrippersVelocity(pidCalculate(encoder, setpoint));
+        setGrippersVelocity(pidCalculate(pid, encoder, setpoint));
     }
 
     @Override