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.CURRENT_SHOOTING_SPEED;
+ requires(shooter);
}
@Override
protected void initialize() {
- this.wheelController.setSetPoint(this.target);
+ shooter.initializePIDController();
}
@Override
protected void execute() {
- // double shooterSpeed = this.wheelController
- // .calcPID(this.shooter.getShooterRPM());
- //
- // this.shooter.setFlyWheelMotorVal(shooterSpeed);
- System.out.println(shooter.getShooterRPM());
- this.shooter.setFlyWheelMotorVal(this.shooter.CURRENT_SHOOTING_SPEED);
+ shooter.setFlyWheelMotorVal(shooter.calculateShooterSpeed());
}
@Override