+
+ 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;