X-Git-Url: http://challenge-bot.com/repos/?a=blobdiff_plain;f=src%2Forg%2Fusfirst%2Ffrc%2Fteam3501%2Frobot%2Fcommands%2Fshooter%2FRunFlyWheelContinuous.java;h=f751f5be6097237477c651215a700b360b1e6dc2;hb=f74d236db406193b851bff99e4daec7b7abf35e7;hp=047fad40885a8e2f5caad590004cab64493dc5bb;hpb=e32379867a61eb104544b90d917b7ab48d704e25;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 047fad4..f751f5b 100644
--- a/src/org/usfirst/frc/team3501/robot/commands/shooter/RunFlyWheelContinuous.java
+++ b/src/org/usfirst/frc/team3501/robot/commands/shooter/RunFlyWheelContinuous.java
@@ -22,39 +22,19 @@ public class RunFlyWheelContinuous extends Command {
   private Shooter shooter = Robot.getShooter();
 
   private PIDController wheelController;
-  private double wheelP;
-  private double wheelI;
-  private double wheelD;
-  private double target;
-  double shooterSpeed = 0;
 
   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(10);
-    this.wheelController.setMaxOutput(1.0);
-    this.wheelController.setMinDoneCycles(3);
-    this.target = 2700;
+    requires(shooter);
   }
 
   @Override
   protected void initialize() {
-    this.wheelController.setSetPoint(this.target);
+    shooter.initializePIDController();
   }
 
   @Override
   protected void execute() {
-    double calculatedShooterIncrement = this.wheelController
-        .calcPID(this.shooter.getShooterRPM());
-    shooterSpeed += calculatedShooterIncrement;
-    if (shooterSpeed > 1.0)
-      this.shooter.setFlyWheelMotorVal(1.0);
-    else
-      this.shooter.setFlyWheelMotorVal(shooterSpeed);
-    // this.shooter.setFlyWheelMotorVal(this.shooter.CURRENT_SHOOTING_SPEED);
+    shooter.setFlyWheelMotorVal(shooter.calculateShooterSpeed());
   }
 
   @Override