package org.robockets.stronghold.robot.highgoalshooter;

import org.robockets.stronghold.robot.Robot;
import org.robockets.stronghold.robot.RobotMap;

import edu.wpi.first.wpilibj.command.Command;

/**
 *
 */
public class SetShootingWheel extends Command {

    public SetShootingWheel() {
        // Use requires() here to declare subsystem dependencies
        // eg. requires(chassis);
    	requires(Robot.shooter);
    }

    // Called just before this Command runs the first time
    protected void initialize() {
    }

    // Called repeatedly when this Command is scheduled to run
    protected void execute() {
    	//Robot.shooter.setShootingWheelSpeed(1000);
    	RobotMap.shootingWheelMotor.pidWrite(0.2);
    	System.out.println(RobotMap.shootingWheelMotor.pidGet());
    }

    // Make this return true when this Command no longer needs to run execute()
    protected boolean isFinished() {
        return false;
    }

    // Called once after isFinished returns true
    protected void end() {
    }

    // Called when another command which requires one or more of the same
    // subsystems is scheduled to run
    protected void interrupted() {
    }
}

@@ -197,16 +197,59 @@
 %0A%0A/**%0A *
+ Set the shooting wheel at a desired speed.
 %0A */%0Apub
@@ -294,16 +294,33 @@
 mand %7B%0A%0A
+%09double speed;%0A%09%0A
     publ
@@ -343,310 +343,85 @@
 eel(
-) %7B%0A        // Use requires() here to declare subsystem dependencies%0A        // eg. requires(chassis);%0A    %09requires(Robot.shooter);%0A    %7D%0A%0A    // Called just before this Command runs the first time%0A    protected void initialize() %7B%0A    %7D%0A%0A    // Called repeatedly when this Command is scheduled to run
+double speed) %7B%0A    %09requires(Robot.shooter);%0A    %09this.speed = speed;%0A    %7D%0A
 %0A   
@@ -436,22 +436,25 @@
 ed void 
-execut
+initializ
 e() %7B%0A  
@@ -456,18 +456,16 @@
  %7B%0A    %09
-//
 Robot.sh
@@ -496,125 +496,53 @@
 eed(
-1000
+speed
 );%0A    
-%09RobotMap.shootingWheelMotor.pidWrite(0.2);%0A    %09System.out.println(RobotMap.shootingWheelMotor.pidGet());
+%7D%0A%0A    protected void execute() %7B
 %0A   
@@ -681,216 +681,87 @@
 urn 
-false;%0A    %7D%0A%0A    // Called once after isFinished returns true%0A    protected void end() %7B%0A    %7D%0A%0A    // Called when another command which requires one or more of the same%0A    // subsystems is scheduled to run
+Robot.shooter.shootingWheelOnTarget();%0A    %7D%0A%0A    protected void end() %7B%0A    %7D%0A
 %0A   

Revise SetShootingWheel command.