I need a VEX Robotics helper

Basically I have code that already does what is defined in the task unfortunately I lost a lot of my lab time where I could have tested the code on the robot to tune the pi controllers to match the robot. Thus I'm in a bit of a bind and looking for an alternative solution or method where I don't need to tune the robot (like an adaptive PI controller or a self tuning PI controller) as I don't have time to test the code