- // 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);