private double wheelI;
private double wheelD;
private double target;
+ double shooterSpeed = 0;
public RunFlyWheelContinuous() {
this.wheelP = this.shooter.wheelP;
this.wheelD = this.shooter.wheelD;
this.wheelController = new PIDController(this.wheelP, this.wheelI,
this.wheelD);
- this.wheelController.setDoneRange(0.5);
+ this.wheelController.setDoneRange(10);
this.wheelController.setMaxOutput(1.0);
this.wheelController.setMinDoneCycles(3);
- this.target = this.shooter.getCurrentShootingSpeed();
+ this.target = 2700;
}
@Override
@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);
+ 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);
}
@Override