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=081b13e3e8891e4638cf5b36374a27b86a1c25c3;hpb=cba5dc5b9ed53b0558bfe8dcc3f38d19bf74ed36;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 081b13e..f751f5b 100644
--- a/src/org/usfirst/frc/team3501/robot/commands/shooter/RunFlyWheelContinuous.java
+++ b/src/org/usfirst/frc/team3501/robot/commands/shooter/RunFlyWheelContinuous.java
@@ -1,58 +1,54 @@
 package org.usfirst.frc.team3501.robot.commands.shooter;
 
 import org.usfirst.frc.team3501.robot.Robot;
+import org.usfirst.frc.team3501.robot.subsystems.Shooter;
+import org.usfirst.frc.team3501.robot.utils.PIDController;
 
 import edu.wpi.first.wpilibj.command.Command;
 
 /**
- * This command will run the fly wheel motor continuously until the button
- * triggering it is released.
+ * This command runs the fly wheel continuously at a set speed using a PID
+ * Controller when OI button managing fly wheel is pressed. The command will run
+ * the fly wheel motor until the button triggering it is released.
+ *
+ * Should only be run from the operator interface.
  *
  * pre-condition: This command must be run by a button in OI, with
  * button.whileHeld(...).
  *
- * @author Shaina
+ * @author Shaina & Chris
  */
 public class RunFlyWheelContinuous extends Command {
-  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;
+
+  public RunFlyWheelContinuous() {
+    requires(shooter);
   }
 
-  // Called just before this Command runs the first time
   @Override
   protected void initialize() {
-    Robot.getShooter().setFlyWheelMotorVal(motorVal);
+    shooter.initializePIDController();
   }
 
-  // Called repeatedly when this Command is scheduled to run
   @Override
   protected void execute() {
+    shooter.setFlyWheelMotorVal(shooter.calculateShooterSpeed());
   }
 
-  // Called once after isFinished returns true
   @Override
-  protected void end() {
+  protected boolean isFinished() {
+    return false;
   }
 
-  // Called when another command which requires one or more of the same
-  // subsystems is scheduled to run
   @Override
-  protected void interrupted() {
-    end();
+  protected void end() {
+    this.shooter.stopFlyWheel();
   }
 
   @Override
-  protected boolean isFinished() {
-    // TODO
-    return false;
+  protected void interrupted() {
+    end();
   }
-
 }