Merge pull request #13 from Carbonic-Acidd/main

Added Shooter

src/main/java/frc/robot/Constants.java

@@ -282,4 +282,14 @@ public static class IntakeConstants {
     public static final int intakeMotorOneID = 5;
     public static final double intakeMotorSpeed = 0.80;
   }
+
+  public static class ShooterConstants {
+    public static final double shooterVelocity = 0;
+    public static final double shooterKs = 0.353;
+    public static final double shooterKv = 0.353;
+    public static final double shooterKa = 0.353;
+    public static final double shooterP = 0.353;
+    public static final int shooterMainId = 0;
+    public static final int shooterFollowerId = 0;
+  }
 }

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

@@ -0,0 +1,50 @@
+// Copyright (c) FIRST and other WPILib contributors.
+// Open Source Software; you can modify and/or share it under the terms of
+// the WPILib BSD license file in the root directory of this project.
+
+package frc.robot.subsystems;
+
+import com.revrobotics.CANSparkBase.ControlType;
+import com.revrobotics.CANSparkBase.IdleMode;
+import com.revrobotics.CANSparkLowLevel.MotorType;
+
+import org.photonvision.simulation.SimPhotonCamera;
+
+import com.revrobotics.CANSparkMax;
+import com.revrobotics.SparkPIDController;
+import com.revrobotics.SparkPIDController.ArbFFUnits;
+import edu.wpi.first.math.controller.SimpleMotorFeedforward;
+import edu.wpi.first.wpilibj2.command.SubsystemBase;
+import frc.robot.Constants.ShooterConstants;
+import frc.robot.util.SparkMaxUtil;
+
+public class Shooter extends SubsystemBase {
+  private CANSparkMax shooterMain = new CANSparkMax(ShooterConstants.shooterMainId, MotorType.kBrushless);
+  private CANSparkMax shooterFollower = new CANSparkMax(ShooterConstants.shooterFollowerId, MotorType.kBrushless);
+  private SimpleMotorFeedforward shooterFeedforward =
+      new SimpleMotorFeedforward(
+          ShooterConstants.shooterKs, ShooterConstants.shooterKv, ShooterConstants.shooterKa);
+
+  private SparkPIDController shooterPID = shooterMain.getPIDController();
+
+  /** Creates a new Shooter. */
+  public Shooter() {
+    shooterMain.restoreFactoryDefaults();
+    shooterFollower.follow(shooterMain, true);
+    shooterMain.setIdleMode(IdleMode.kCoast);
+    SparkMaxUtil.configureFollower(shooterFollower);
+
+    shooterPID.setP(ShooterConstants.shooterP);
+  }
+
+  public void setMotorSpeed(double velocity) {
+    double feedForward = shooterFeedforward.calculate(velocity);
+
+    shooterPID.setReference(velocity, ControlType.kVelocity, 0, feedForward, ArbFFUnits.kVoltage);
+  }
+
+  @Override
+  public void periodic() {
+    // This method will be called once per scheduler run
+  }
+}