I am trying to at a PID controller to our single-flywheel shooter, but I do not know exactly what I'm doing and cant quite get it to work so any help would be appreciated. This is all I have so far.

float k = .02;

int wheel;

int speed;

int desired = 400;

SensorValue(wheelen) = 0;

wheel = SensorValue(wheelen);

wait1Msec(2000);

int error = desired-wheel;

motor(flywheelF) = speed + (error * k);

motor(flywheelC) = speed + (error * k);

motor(flywheelB) = speed + (error * k);