+ private Shooter shooter = Robot.getShooter();
+ double time;
+
+ private PIDController wheelController;
+
+ public RunFlyWheel(double time) {
+ this.time = time;
+ }
+
+ @Override
+ protected void initialize() {
+ shooter.initializePIDController();
+ }
+
+ @Override
+ protected void execute() {
+ shooter.setFlyWheelMotorVal(shooter.calculateShooterSpeed());
+ }
+
+ @Override
+ protected boolean isFinished() {
+ return timeSinceInitialized() >= time;
+ }