X-Git-Url: http://challenge-bot.com/repos/?a=blobdiff_plain;f=src%2Forg%2Fusfirst%2Ffrc%2Fteam3501%2Frobot%2Fcommands%2Fshooter%2FRunFlyWheel.java;fp=src%2Forg%2Fusfirst%2Ffrc%2Fteam3501%2Frobot%2Fcommands%2Fshooter%2FRunFlyWheel.java;h=61385f69f5fd8140f3c2d2bdcd4fd22012704211;hb=6af2bd85705a2bd19ce936d390f57a61f6168666;hp=a20af8e63badd3bfee9722e5037c9771b60a8a52;hpb=4dd20c3d051f6e39e5de6c86d04c4cade58fca59;p=3501%2F2017steamworks

diff --git a/src/org/usfirst/frc/team3501/robot/commands/shooter/RunFlyWheel.java b/src/org/usfirst/frc/team3501/robot/commands/shooter/RunFlyWheel.java
index a20af8e..61385f6 100644
--- a/src/org/usfirst/frc/team3501/robot/commands/shooter/RunFlyWheel.java
+++ b/src/org/usfirst/frc/team3501/robot/commands/shooter/RunFlyWheel.java
@@ -26,15 +26,15 @@ public class RunFlyWheel extends Command {
 
   public RunFlyWheel(double maxTimeOut) {
 
-    this.wheelP = this.shooter.wheelP;
-    this.wheelI = this.shooter.wheelI;
-    this.wheelD = this.shooter.wheelD;
+    this.wheelP = this.shooter.getWheelP();
+    this.wheelI = this.shooter.getWheelI();
+    this.wheelD = this.shooter.getWheelD();
     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;
+    this.target = this.shooter.getShootingSpeed();
   }
 
   // Called just before this Command runs the first time
@@ -49,7 +49,7 @@ public class RunFlyWheel extends Command {
     double shooterSpeed = this.wheelController
         .calcPID(this.shooter.getShooterRPM());
 
-    this.shooter.setFlyWheelMotorVal(shooterSpeed);
+    this.shooter.runFlyWheel();
   }
 
   // Make this return true when this Command no longer needs to run execute()