Add Hall Effect Sensor code to test sensor

[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 d68b13eca0b71d3cc3024769ac8f56777da1cbbe..83d558acfca15a4d069d1cc230b9227c011242fa 100644 (file)
--- a/src/org/usfirst/frc/team3501/robot/commands/shooter/RunFlyWheel.java
+++ b/src/org/usfirst/frc/team3501/robot/commands/shooter/RunFlyWheel.java
@@ -8,8 +8,9 @@ import org.usfirst.frc.team3501.robot.utils.PIDController;
 import edu.wpi.first.wpilibj.command.Command;
 
 /**
- * This command runs the fly wheel at a given speed for a given time. The fly
- * wheel is intended to shoot balls fed by the intake wheel.
+ * This command runs the fly wheel at a specific speed using a PID Controller
+ * for accuracy for a given time. The fly wheel is intended to shoot balls fed
+ * by the intake wheel.
  *
  * @author Shaina & Chris
  */
@@ -45,7 +46,7 @@ public class RunFlyWheel extends Command {
   // Called repeatedly when this Command is scheduled to run
   protected void execute() {
     double shooterSpeed = this.wheelController
-        .calcPID(this.shooter.getShooterSpeed());
+        .calcPID(this.shooter.getShooterRPM());
 
     this.shooter.setFlyWheelMotorVal(shooterSpeed);
   }