X-Git-Url: http://challenge-bot.com/repos/?p=3501%2F2017steamworks;a=blobdiff_plain;f=src%2Forg%2Fusfirst%2Ffrc%2Fteam3501%2Frobot%2Fcommands%2Fshooter%2FRunFlyWheelContinuous.java;fp=src%2Forg%2Fusfirst%2Ffrc%2Fteam3501%2Frobot%2Fcommands%2Fshooter%2FRunFlyWheelContinuous.java;h=86c31f7eecd523ebc2a274a6b4d1d58bb74d45ed;hp=fa5426e90a21580e42d14c76e7f2d98ef9ac72ed;hb=7ba6bc91b8cf7205e05cdb974dc80fdd668ebe59;hpb=f625e57a09b295f7d40e4568a8e3a8cd125630aa

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 fa5426e..86c31f7 100644
--- a/src/org/usfirst/frc/team3501/robot/commands/shooter/RunFlyWheelContinuous.java
+++ b/src/org/usfirst/frc/team3501/robot/commands/shooter/RunFlyWheelContinuous.java
@@ -22,35 +22,18 @@ public class RunFlyWheelContinuous extends Command {
   private Shooter shooter = Robot.getShooter();
 
   private PIDController wheelController;
-  private double wheelP;
-  private double wheelI;
-  private double wheelD;
-  private double target;
-  private double shooterSpeed = 0;
 
   public RunFlyWheelContinuous() {
-    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(10);
-    this.wheelController.setMaxOutput(1.0);
-    this.wheelController.setMinDoneCycles(3);
-    this.target = shooter.getCurrentShootingSpeed();
   }
 
   @Override
   protected void initialize() {
-    this.wheelController.setSetPoint(this.target);
+    shooter.initializePIDController();
   }
 
   @Override
   protected void execute() {
-    double calculatedShooterIncrement = this.wheelController
-        .calcPID(this.shooter.getShooterRPM());
-    shooterSpeed += calculatedShooterIncrement;
-    this.shooter.setFlyWheelMotorVal(shooterSpeed);
+    shooter.setFlyWheelMotorVal(shooter.calculateShooterSpeed());
   }
 
   @Override