Chief Delphi - PID Controller help

So I followed the example on here.

http://wpilib.screenstepslive.com/s/...rs-pid-control

So this is what I got so far.

The PID Controller is plugged in on PWM port 0 and AnalogInput 2

How do I call this in the Robot.java and what do I do next?
I am using IterativeRobot

Code:

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

import edu.wpi.first.wpilibj.livewindow.LiveWindow;

import edu.wpi.first.wpilibj.Talon;

import edu.wpi.first.wpilibj.SpeedController;

import edu.wpi.first.wpilibj.AnalogInput;

import edu.wpi.first.wpilibj.*;

/**

 *

 */

public class PIDWheel extends PIDSubsystem {

        SpeedController motor = new Talon(0);

        AnalogInput pot = new AnalogInput(2);

        

    // Initialize your subsystem here

    public PIDWheel() {

            super("Wheel", 1.0, 0.0, 0.0);

            setAbsoluteTolerance(0.2);

            getPIDController().setContinuous(false);

            LiveWindow.addActuator("Wheel", "PIDSubsystem Controller", getPIDController());

        // Use these to get going:

        // setSetpoint() -  Sets where the PID controller should move the system

        //                  to

        // enable() - Enables the PID controller.

    }

    

    public void initDefaultCommand() {

        // Set the default command for a subsystem here.

        //setDefaultCommand(new MySpecialCommand());

    }

    

    protected double returnPIDInput() {

        // Return your input value for the PID loop

        // e.g. a sensor, like a potentiometer:

        // yourPot.getAverageVoltage() / kYourMaxVoltage;

            return pot.getAverageVoltage();

    }

    

    protected void usePIDOutput(double output) {

            motor.pidWrite(output);

        // Use output to drive your system, like a motor

        // e.g. yourMotor.set(output);

    }

}