public void setProportionalGains(double[] proportionalGains) {
   gains.setProportionalGains(proportionalGains);
 }
 public void setProportionalGains(
     double proportionalGainX, double proportionalGainY, double proportionalGainZ) {
   gains.setProportionalGains(proportionalGainX, proportionalGainY, proportionalGainZ);
 }