- private double motorVal;
-
- /**
- * See JavaDoc comment in class for details
- *
- * @param motorVal
- * value range from -1 to 1
- */
- public RunFlyWheelContinuous(double motorVal) {
- this.motorVal = motorVal;
+ private Shooter shooter = Robot.getShooter();
+
+ private PIDController wheelController;
+ private double wheelP;
+ private double wheelI;
+ private double wheelD;
+ private double target;
+
+ public RunFlyWheelContinuous() {
+ this.wheelP = this.shooter.wheelP;
+ this.wheelI = this.shooter.wheelI;
+ this.wheelD = this.shooter.wheelD;
+ this.wheelController = new PIDController(this.wheelP, this.wheelI,
+ this.wheelD);
+ this.wheelController.setDoneRange(0.5);
+ this.wheelController.setMaxOutput(1.0);
+ this.wheelController.setMinDoneCycles(3);
+ this.target = this.shooter.getCurrentShootingSpeed();