Shooter

src/main/java/frc/robot/RobotContainer.java

@@ -7,22 +7,22 @@
 
 import edu.wpi.first.wpilibj2.command.Command;
 import edu.wpi.first.wpilibj2.command.Commands;
+import frc.robot.subsystems.Shooter.Shooter;
 
 
+public class RobotContainer {
 
-public class RobotContainer
-{
-    public RobotContainer()
-    {
+    public static final Shooter SHOOTER = new Shooter();
+
+    public RobotContainer() {
         configureBindings();
     }
+
+    private void configureBindings() {
+    }
+
 
-
-    private void configureBindings() {}
-
-
-    public Command getAutonomousCommand()
-    {
+    public Command getAutonomousCommand() {
         return Commands.print("No autonomous command configured");
     }
 }

src/main/java/frc/robot/subsystems/Shooter/Shooter.java

@@ -0,0 +1,28 @@
+package frc.robot.subsystems.Shooter;
+
+
+import com.ctre.phoenix.motorcontrol.ControlMode;
+import com.ctre.phoenix.motorcontrol.can.WPI_TalonSRX;
+import edu.wpi.first.wpilibj2.command.SubsystemBase;
+
+public class Shooter extends SubsystemBase {
+    private final WPI_TalonSRX rightMotor = ShooterConstants.RIGHT_MOTOR;
+    private final WPI_TalonSRX leftMotor = ShooterConstants.LEFT_MOTOR;
+    private ShooterConstants.ShooterState currentState;
+
+    void stopMotors() {
+        setMotorOutput(0);
+    }
+
+    void setTargetState(ShooterConstants.ShooterState targetState) {
+        setMotorOutput(targetState.setShooterState);
+        currentState = targetState;
+    }
+
+    void setMotorOutput(double percentageMotorOutput) {
+        rightMotor.set(ControlMode.PercentOutput, percentageMotorOutput);
+        leftMotor.set(ControlMode.PercentOutput, percentageMotorOutput);
+    }
+}
+
+

src/main/java/frc/robot/subsystems/Shooter/ShooterCommands.java

@@ -0,0 +1,23 @@
+package frc.robot.subsystems.Shooter;
+
+import edu.wpi.first.wpilibj2.command.Command;
+import edu.wpi.first.wpilibj2.command.InstantCommand;
+import edu.wpi.first.wpilibj2.command.StartEndCommand;
+import frc.robot.RobotContainer;
+
+public class ShooterCommands {
+    public static Command getSetTargetStateCommand(ShooterConstants.ShooterState targetState) {
+        return new InstantCommand(
+                () -> RobotContainer.SHOOTER.setTargetState(targetState)
+        );
+    }
+
+    private static Command getSetMotorOutputCommand(double motorOutput) {
+        return new StartEndCommand(
+                () -> RobotContainer.SHOOTER.setMotorOutput(motorOutput),
+                RobotContainer.SHOOTER::stopMotors,
+                RobotContainer.SHOOTER
+        );
+    }
+}
+

src/main/java/frc/robot/subsystems/Shooter/ShooterConstants.java

@@ -0,0 +1,58 @@
+package frc.robot.subsystems.Shooter;
+
+import com.ctre.phoenix.motorcontrol.InvertType;
+import com.ctre.phoenix.motorcontrol.NeutralMode;
+import com.ctre.phoenix.motorcontrol.can.WPI_TalonSRX;
+
+public class ShooterConstants {
+    private static final int
+            RIGHT_MOTOR_ID = 3,
+            LEFT_MOTOR_ID = 4;
+
+    static final WPI_TalonSRX
+            RIGHT_MOTOR = new WPI_TalonSRX(RIGHT_MOTOR_ID),
+            LEFT_MOTOR = new WPI_TalonSRX(LEFT_MOTOR_ID);
+
+    private static final InvertType RIGHT_MOTOR_INVERTED_VALUE = InvertType.None;
+    private static final InvertType LEFT_MOTOR_INVERTED_VALUE = InvertType.InvertMotorOutput;
+    private static final NeutralMode NEUTRAL_MODE = NeutralMode.Coast;
+    private static final double VOLTAGE_COMPENSATION_SATURATION = 12;
+
+    static {
+        configureRightMotor();
+        configureLeftMotor();
+    }
+
+    private static final void configureRightMotor() {
+        RIGHT_MOTOR.configFactoryDefault();
+
+        RIGHT_MOTOR.setInverted(RIGHT_MOTOR_INVERTED_VALUE);
+        RIGHT_MOTOR.setNeutralMode(NEUTRAL_MODE);
+
+        RIGHT_MOTOR.enableVoltageCompensation(true);
+        RIGHT_MOTOR.configVoltageCompSaturation(VOLTAGE_COMPENSATION_SATURATION);
+    }
+
+    private static final void configureLeftMotor() {
+        LEFT_MOTOR.configFactoryDefault();
+
+        LEFT_MOTOR.setInverted(LEFT_MOTOR_INVERTED_VALUE);
+        LEFT_MOTOR.setNeutralMode(NEUTRAL_MODE);
+
+        LEFT_MOTOR.enableVoltageCompensation(true);
+        LEFT_MOTOR.configVoltageCompSaturation(VOLTAGE_COMPENSATION_SATURATION);
+    }
+
+    public enum ShooterState {
+        SHOOT(1),
+        EJECT(0.3),
+        COLLECT(-0.3),
+        STOP(0);
+
+        final double setShooterState;
+
+        ShooterState(double setShooterState) {
+            this.setShooterState = setShooterState;
+        }
+    }
+}