X-Git-Url: http://challenge-bot.com/repos/?a=blobdiff_plain;f=src%2Forg%2Fusfirst%2Ffrc%2Fteam3501%2Frobot%2Fcommands%2Fshooter%2FRunFlyWheelContinuous.java;h=823088e5a00603b635f8a0888c52301ac85ee637;hb=refs%2Fheads%2Fshooter-code-review;hp=2ae906c7be9753d2ba15de5b2994ccf765273a06;hpb=4dd20c3d051f6e39e5de6c86d04c4cade58fca59;p=3501%2F2017steamworks

diff --git a/src/org/usfirst/frc/team3501/robot/commands/shooter/RunFlyWheelContinuous.java b/src/org/usfirst/frc/team3501/robot/commands/shooter/RunFlyWheelContinuous.java
index 2ae906c..823088e 100644
--- a/src/org/usfirst/frc/team3501/robot/commands/shooter/RunFlyWheelContinuous.java
+++ b/src/org/usfirst/frc/team3501/robot/commands/shooter/RunFlyWheelContinuous.java
@@ -28,15 +28,15 @@ public class RunFlyWheelContinuous extends Command {
   private double target;
 
   public RunFlyWheelContinuous() {
-    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();
   }
 
   @Override
@@ -51,7 +51,7 @@ public class RunFlyWheelContinuous extends Command {
     //
     // this.shooter.setFlyWheelMotorVal(shooterSpeed);
     System.out.println(shooter.getShooterRPM());
-    this.shooter.setFlyWheelMotorVal(this.shooter.CURRENT_SHOOTING_SPEED);
+    this.shooter.runFlyWheel();
   }
 
   @Override