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;h=86c31f7eecd523ebc2a274a6b4d1d58bb74d45ed;hp=ff4f65960c69a50ad6114e7993260aa131bee7ff;hb=7ba6bc91b8cf7205e05cdb974dc80fdd668ebe59;hpb=09e509d3b1f6e73a06d62e41c5a959e6eed2e5c6

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 ff4f659..86c31f7 100644
--- a/src/org/usfirst/frc/team3501/robot/commands/shooter/RunFlyWheelContinuous.java
+++ b/src/org/usfirst/frc/team3501/robot/commands/shooter/RunFlyWheelContinuous.java
@@ -22,36 +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;
 
   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(0.5);
-    this.wheelController.setMaxOutput(1.0);
-    this.wheelController.setMinDoneCycles(3);
-    this.target = this.shooter.getCurrentShootingSpeed();
   }
 
   @Override
   protected void initialize() {
-    this.wheelController.setSetPoint(this.target);
+    shooter.initializePIDController();
   }
 
   @Override
   protected void execute() {
-    // double shooterSpeed = this.wheelController
-    // .calcPID(this.shooter.getShooterRPM());
-    //
-    // this.shooter.setFlyWheelMotorVal(shooterSpeed);
-    System.out.println(shooter.getShooterRPM());
-    this.shooter.setFlyWheelMotorVal(this.shooter.CURRENT_SHOOTING_SPEED);
+    shooter.setFlyWheelMotorVal(shooter.calculateShooterSpeed());
   }
 
   @Override