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=6ac5d774bcf0f50893ef014e09c5a74f19bcdfee;hpb=7cd65a82e59374ba6cae30c6f67e358717f7ee48;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 6ac5d77..f751f5b 100644
--- a/src/org/usfirst/frc/team3501/robot/commands/shooter/RunFlyWheelContinuous.java
+++ b/src/org/usfirst/frc/team3501/robot/commands/shooter/RunFlyWheelContinuous.java
@@ -22,57 +22,33 @@ 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;
 
   public RunFlyWheelContinuous() {
-    // Use requires() here to declare subsystem dependencies
-    // eg. requires(chassis);
-
-    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);
   }
 
-  // Called just before this Command runs the first time
   @Override
   protected void initialize() {
-    this.wheelController.setSetPoint(this.target);
+    shooter.initializePIDController();
   }
 
-  // Called repeatedly when this Command is scheduled to run
   @Override
   protected void execute() {
-    double shooterSpeed = this.wheelController
-        .calcPID(this.shooter.getShooterRPM());
-
-    this.shooter.setFlyWheelMotorVal(shooterSpeed);
+    shooter.setFlyWheelMotorVal(shooter.calculateShooterSpeed());
   }
 
-  // Make this return true when this Command no longer needs to run execute()
   @Override
   protected boolean isFinished() {
     return false;
   }
 
-  // Called once after isFinished returns true
   @Override
   protected void end() {
     this.shooter.stopFlyWheel();
   }
 
-  // Called when another command which requires one or more of the same
-  // subsystems is scheduled to run
   @Override
   protected void interrupted() {
-
+    end();
   }
 }