parameters: (self, request)
return_statement: return SetDriveControlGainsResponse()
docstring: Handle the setting of the drive gains (PID).
docstring_summary: Handle the setting of the drive gains (PID).
docstring_tokens: Handle the setting of the drive gains ( PID ) .
function: def _HandleSetDriveGains(self, request):
  		""" Handle the setting of the drive gains (PID). """
  		
  		# We persist the new values in the parameter server
  		rospy.set_param("~speedController", {'velocityPParam': request.velocityPParam, 'velocityPParam': request.velocityIParam, 'turnPParam': request.turnPParam, 'turnIParam': request.turnIParam})
  		
  		commandTimeout = self._GetCommandTimeoutForSpeedController()
  		speedControllerParams = (request.velocityPParam, request.velocityIParam, request.turnPParam, request.turnIParam, commandTimeout)
  		self._WriteSpeedControllerParams(speedControllerParams)
  		return SetDriveControlGainsResponse()
function_tokens: def _HandleSetDriveGains ( self , request ) : # We persist the new values in the parameter server rospy . set_param ( "~speedController" , { 'velocityPParam' : request . velocityPParam , 'velocityPParam' : request . velocityIParam , 'turnPParam' : request . turnPParam , 'turnIParam' : request . turnIParam } ) commandTimeout = self . _GetCommandTimeoutForSpeedController ( ) speedControllerParams = ( request . velocityPParam , request . velocityIParam , request . turnPParam , request . turnIParam , commandTimeout ) self . _WriteSpeedControllerParams ( speedControllerParams ) return SetDriveControlGainsResponse ( )