move setmotorvalues to execute and set wheels to constant speeds

[3501/2017steamworks] / src / org / usfirst / frc / team3501 / robot / commands / shooter / RunFlyWheelContinuous.java

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 cc07893019111c9e88f0115784de98d079981862..af77483c85939ffa7205610078a4ee2630275805 100644 (file)
--- a/src/org/usfirst/frc/team3501/robot/commands/shooter/RunFlyWheelContinuous.java
+++ b/src/org/usfirst/frc/team3501/robot/commands/shooter/RunFlyWheelContinuous.java
@@ -1,6 +1,7 @@
 package org.usfirst.frc.team3501.robot.commands.shooter;
 
 import org.usfirst.frc.team3501.robot.Robot;
+import org.usfirst.frc.team3501.robot.subsystems.Shooter;
 
 import edu.wpi.first.wpilibj.command.Command;
 
@@ -17,7 +18,7 @@ import edu.wpi.first.wpilibj.command.Command;
  * @author Shaina
  */
 public class RunFlyWheelContinuous extends Command {
-  private double motorVal;
+  private Shooter shooter = Robot.getShooter();
 
   /**
    * See JavaDoc comment in class for details
@@ -25,19 +26,19 @@ public class RunFlyWheelContinuous extends Command {
    * @param motorVal
    *          value range from -1 to 1
    */
-  public RunFlyWheelContinuous(double motorVal) {
-    this.motorVal = motorVal;
+  public RunFlyWheelContinuous() {
+    requires(shooter);
   }
 
   // Called just before this Command runs the first time
   @Override
   protected void initialize() {
-    Robot.getShooter().setFlyWheelMotorVal(motorVal);
   }
 
   // Called repeatedly when this Command is scheduled to run
   @Override
   protected void execute() {
+    shooter.setFlyWheelMotorVal(shooter.CURRENT_SHOOTING_SPEED);
   }
 
   // Called once after isFinished returns true