Merge pull request #91 from Gears-and-Buccaneers/Its-So-Shrimple

Shooter

src/main/java/frc/Robot.java

@@ -18,6 +18,8 @@ public class Robot extends TimedRobot {
 	// Subsystems
 	private final Swerve drivetrain = SwerveConfig.swerve;
 	private final Intake intake = new Intake();
+	private final Shooter shooterLeft = new Shooter(15);
+	private final Shooter shooterRight = new Shooter(16);
 
 	// Utilities
 	static double squareInput(double input) {

src/main/java/frc/system/Shooter.java

@@ -0,0 +1,76 @@
+package frc.system;
+
+import com.ctre.phoenix.motorcontrol.NeutralMode;
+import com.ctre.phoenix.motorcontrol.SupplyCurrentLimitConfiguration;
+import com.ctre.phoenix.motorcontrol.TalonSRXControlMode;
+import com.ctre.phoenix.motorcontrol.can.TalonSRX;
+
+import edu.wpi.first.wpilibj2.command.Command;
+import edu.wpi.first.wpilibj2.command.Subsystem;
+
+public class Shooter implements Subsystem {
+    // Hardware
+    private final TalonSRX shooterMotor;
+
+    private double defaultShooterSpeed = .8;
+
+    public Shooter(int id) {
+        // Motor
+        shooterMotor = new TalonSRX(id);
+
+        // Configs
+        shooterMotor.setInverted(false);
+
+        shooterMotor.setNeutralMode(NeutralMode.Coast);
+
+        SupplyCurrentLimitConfiguration currentLimits = new SupplyCurrentLimitConfiguration();
+
+        currentLimits.currentLimit = 40;
+        currentLimits.enable = true;
+
+        shooterMotor.configSupplyCurrentLimit(currentLimits);
+
+		register();
+    }
+
+    private Command feed(boolean forwards, double percentMaxSpeed) {
+        Command cmd = new Command() {
+            public void initialize() {
+                double speed = forwards ? defaultShooterSpeed : -defaultShooterSpeed;
+                speed *= percentMaxSpeed;
+
+                shooterMotor.set(TalonSRXControlMode.PercentOutput, speed);
+            }
+
+            public void end(boolean interrupted) {
+                disable();
+            }
+        };
+
+        cmd.addRequirements(this);
+
+        return cmd;
+    }
+
+    private void disable() {
+        shooterMotor.set(TalonSRXControlMode.Disabled, 0);
+    }
+
+    /**
+     * returns a command that runs the Shooter FORWARD
+     * when it ends it disables the Shooter
+     * Shooter command requires itself
+     */
+    public Command runIn() {
+        return feed(true, 1);
+    }
+
+    /**
+     * returns a command that runs the Shooter SLOWER
+     * when it ends it disables the Shooter
+     * Shooter command requires itself
+     */
+    public Command runOut() {
+        return feed(true, .8);
+    }
+}