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implement shooter pid
[3501/2017steamworks]
/
src
/
org
/
usfirst
/
frc
/
team3501
/
robot
/
commands
/
shooter
/
RunFlyWheel.java
diff --git
a/src/org/usfirst/frc/team3501/robot/commands/shooter/RunFlyWheel.java
b/src/org/usfirst/frc/team3501/robot/commands/shooter/RunFlyWheel.java
index 442897aa9e15eb71f22544f8b2170bb32f2d5b35..c5101fc7d0dea5e23353b3a6c6b890ad35247450 100644
(file)
--- a/
src/org/usfirst/frc/team3501/robot/commands/shooter/RunFlyWheel.java
+++ b/
src/org/usfirst/frc/team3501/robot/commands/shooter/RunFlyWheel.java
@@
-23,6
+23,7
@@
public class RunFlyWheel extends Command {
private double wheelI;
private double wheelD;
private double target;
private double wheelI;
private double wheelD;
private double target;
+ private double shooterSpeed = 0;
public RunFlyWheel(double maxTimeOut) {
public RunFlyWheel(double maxTimeOut) {
@@
-46,9
+47,9
@@
public class RunFlyWheel extends Command {
// Called repeatedly when this Command is scheduled to run
@Override
protected void execute() {
// Called repeatedly when this Command is scheduled to run
@Override
protected void execute() {
- double
shooterSpeed
= this.wheelController
+ double
calculatedShooterIncrement
= this.wheelController
.calcPID(this.shooter.getShooterRPM());
.calcPID(this.shooter.getShooterRPM());
-
+ shooterSpeed += calculatedShooterIncrement;
this.shooter.setFlyWheelMotorVal(shooterSpeed);
}
this.shooter.setFlyWheelMotorVal(shooterSpeed);
}