Finished CS18, started CS20

CS18 - Sensors with Advanced Controls/src/main/java/frc/robot/RobotContainer.java

@@ -6,13 +6,49 @@ package frc.robot;
 
 import edu.wpi.first.wpilibj2.command.Command;
 import edu.wpi.first.wpilibj2.command.Commands;
+import edu.wpi.first.wpilibj2.command.button.CommandXboxController;
+import frc.robot.constants.OIConstants;
+import frc.robot.constants.ShooterConstants;
+import frc.robot.subsystems.Drivetrain;
+import frc.robot.subsystems.Shooter;
 
 public class RobotContainer {
+  private Drivetrain drivetrain;
+  private Shooter shooter;
+
+  private CommandXboxController driver;
+
   public RobotContainer() {
+    drivetrain = new Drivetrain();
+    shooter = new Shooter();
+
+    driver = new CommandXboxController(OIConstants.kDriverUSB);
+
     configureBindings();
   }
 
-  private void configureBindings() {}
+  private void configureBindings() {
+    drivetrain.setDefaultCommand(
+      drivetrain.driveArcade(
+        driver::getLeftY, 
+        driver::getLeftX
+      )
+    );
+
+    driver.povCenter().negate().onTrue(
+      drivetrain.goToAngle(driver.getHID().getPOV(), 3)
+    );
+
+    shooter.setDefaultCommand(
+      shooter.setSpeed(
+        driver::getRightTriggerAxis
+      )
+    );
+
+    driver.a().whileTrue(
+      shooter.runAutomaticSpeedControl(ShooterConstants.kShootSpeed)
+    );
+  }
 
   public Command getAutonomousCommand() {
     return Commands.print("No autonomous command configured");

CS18 - Sensors with Advanced Controls/src/main/java/frc/robot/constants/ShooterConstants.java

@@ -16,4 +16,6 @@ public class ShooterConstants {
     public static final double kFFS = 0;
     public static final double kFFV = 0;
     public static final double kFFA = 0;
+
+    public static final double kShootSpeed = 0;
 }