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
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()