private double wheelI;
private double wheelD;
private double target;
- double shooterSpeed = 0;
+ private double shooterSpeed = 0;
public RunFlyWheelContinuous() {
this.wheelP = this.shooter.wheelP;
this.wheelController.setDoneRange(10);
this.wheelController.setMaxOutput(1.0);
this.wheelController.setMinDoneCycles(3);
- this.target = 2700;
+ this.target = shooter.getCurrentShootingSpeed();
}
@Override
double calculatedShooterIncrement = this.wheelController
.calcPID(this.shooter.getShooterRPM());
shooterSpeed += calculatedShooterIncrement;
- if (shooterSpeed > 1.0)
- this.shooter.setFlyWheelMotorVal(1.0);
- else
- this.shooter.setFlyWheelMotorVal(shooterSpeed);
- // this.shooter.setFlyWheelMotorVal(this.shooter.CURRENT_SHOOTING_SPEED);
+ this.shooter.setFlyWheelMotorVal(shooterSpeed);
}
@Override