public Shooter() {
        super(0.08, 0, 0.28);
        _speedSensor.setMinSpeedRpm(200);
        _accelerator.setMinSpeed(0);
        getPIDController().setOutputRange(-2/OUTPUT_SCALE, 2/OUTPUT_SCALE);
        setAbsoluteTolerance(15);
        LiveWindow.addSensor("Shooter", "Speed Sensor", _speedSensor);
        LiveWindow.addActuator("Shooter", "PID Control", getPIDController());
    }