added the indexer

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

@@ -14,6 +14,7 @@ import frc.robot.subsystems.ClimberPivot;
 import frc.robot.subsystems.ClimberRollers;
 import frc.robot.subsystems.Drivetrain;
 import frc.robot.subsystems.Elevator;
+import frc.robot.subsystems.Indexer;
 import frc.robot.subsystems.Manipulator;
 
 import java.util.function.IntSupplier;
@@ -42,6 +43,8 @@ public class RobotContainer {
 	private Elevator elevator;
 	//private ElevatorSysID elevator;
 
+	private Indexer indexer;
+
 	private Manipulator manipulator;
 
 	private ManipulatorPivot manipulatorPivot;
@@ -63,6 +66,8 @@ public class RobotContainer {
 		elevator = new Elevator();
 		//elevator = new ElevatorSysID();
 
+		indexer = new Indexer();
+
 		manipulator = new Manipulator();
 
 		manipulatorPivot = new ManipulatorPivot();
@@ -118,6 +123,10 @@ public class RobotContainer {
 			elevator.maintainPosition()
 		);
 
+		indexer.setDefaultCommand(
+			indexer.runIndexer(() -> 0)
+		);
+		
 		
 		manipulatorPivot.setDefaultCommand(
 			manipulatorPivot.maintainPosition()
@@ -140,6 +149,7 @@ public class RobotContainer {
 
 		driver.leftTrigger().whileTrue( 
 			manipulator.runUntilCollected(() -> 0.75)
+			.alongWith(indexer.runIndexer(() -> .75))
 			.until(() -> manipulator.getCoralBeamBreak() == false)
 			.andThen(manipulator.retractCommand(() -> .1))
 		);

src/main/java/frc/robot/constants/IndexerConstants.java

@@ -0,0 +1,15 @@
+package frc.robot.constants;
+
+import com.revrobotics.spark.config.SparkBaseConfig.IdleMode;
+import com.revrobotics.spark.config.SparkMaxConfig;
+
+public class IndexerConstants {
+    public static final int kIndexerMotorID = 16;
+
+    public static final SparkMaxConfig motorConfig = new SparkMaxConfig();
+    
+    static{
+        motorConfig.smartCurrentLimit(40)
+        .idleMode(IdleMode.kCoast);
+    };
+}

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

@@ -0,0 +1,32 @@
+package frc.robot.subsystems;
+
+import java.util.function.DoubleSupplier;
+
+import com.revrobotics.spark.SparkMax;
+import com.revrobotics.spark.SparkBase.PersistMode;
+import com.revrobotics.spark.SparkBase.ResetMode;
+import com.revrobotics.spark.SparkLowLevel.MotorType;
+
+import edu.wpi.first.wpilibj2.command.Command;
+import edu.wpi.first.wpilibj2.command.SubsystemBase;
+import frc.robot.constants.IndexerConstants;
+
+public class Indexer extends SubsystemBase {
+    private SparkMax indexerMotor;
+
+    public Indexer() {
+        indexerMotor = new SparkMax(IndexerConstants.kIndexerMotorID, MotorType.kBrushless);
+
+        indexerMotor.configure(
+            IndexerConstants.motorConfig, 
+            ResetMode.kResetSafeParameters, 
+            PersistMode.kPersistParameters
+        );
+    }
+
+    public Command runIndexer(DoubleSupplier speed) {
+        return run(() -> {
+            indexerMotor.set(speed.getAsDouble());
+        });
+    }
+}