Adding a few subsystems, not sure I like the use of periodic for the shooter and intake pivot subsystems

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

@@ -0,0 +1,82 @@
+package frc.robot.subsystems;
+
+import java.util.Optional;
+
+import org.littletonrobotics.junction.Logger;
+
+import com.revrobotics.AbsoluteEncoder;
+import com.revrobotics.PersistMode;
+import com.revrobotics.ResetMode;
+import com.revrobotics.spark.SparkClosedLoopController;
+import com.revrobotics.spark.SparkMax;
+import com.revrobotics.spark.SparkBase.ControlType;
+import com.revrobotics.spark.SparkLowLevel.MotorType;
+
+import edu.wpi.first.wpilibj2.command.Command;
+import edu.wpi.first.wpilibj2.command.SubsystemBase;
+import frc.robot.constants.IntakePivotConstants;
+import frc.robot.constants.IntakePivotConstants.IntakePivotPosition;
+
+public class IntakePivot extends SubsystemBase {
+    private SparkMax leftMotor;
+    private SparkMax rightMotor;
+
+    private AbsoluteEncoder encoder;
+
+    private SparkClosedLoopController controller;
+
+    private IntakePivotPosition currentTargetPosition;
+
+    public IntakePivot() {
+        leftMotor = new SparkMax(IntakePivotConstants.kLeftMotorCANID, MotorType.kBrushless);
+        rightMotor = new SparkMax(IntakePivotConstants.kRightMotorCANID, MotorType.kBrushless);
+
+        leftMotor.configure(
+            IntakePivotConstants.leftMotorConfig, 
+            ResetMode.kResetSafeParameters, 
+            PersistMode.kPersistParameters
+        );
+
+        rightMotor.configure(
+            IntakePivotConstants.rightMotorConfig, 
+            ResetMode.kResetSafeParameters, 
+            PersistMode.kPersistParameters
+        );
+
+        controller = leftMotor.getClosedLoopController();
+
+        encoder = leftMotor.getAbsoluteEncoder();
+    }
+
+    @Override
+    public void periodic() {
+        if(currentTargetPosition == null) {
+            leftMotor.disable();
+            rightMotor.disable();
+        } else {
+            controller.setSetpoint(currentTargetPosition.getPositionRadians(), ControlType.kPosition);
+        }
+
+        Logger.recordOutput(
+            "IntakePivot/TargetPosition", 
+            currentTargetPosition == null ? -1 : currentTargetPosition.getPositionRadians());
+        Logger.recordOutput("IntakePivot/CurrentPosition", encoder.getPosition());
+        Logger.recordOutput("IntakePivot/AtSetpoint", controller.isAtSetpoint());
+    }
+
+    public Command setTargetPosition(IntakePivotPosition position) {
+        return runOnce(() -> {
+            currentTargetPosition = position;
+        });
+    }
+
+    public Command stop() {
+        return runOnce(() -> {
+            currentTargetPosition = null;
+        });
+    }
+
+    public Optional<IntakePivotPosition> getCurrentTargetPosition() {
+        return Optional.of(currentTargetPosition);
+    }
+}

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

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+package frc.robot.subsystems;
+
+import com.revrobotics.PersistMode;
+import com.revrobotics.ResetMode;
+import com.revrobotics.spark.SparkMax;
+import com.revrobotics.spark.SparkLowLevel.MotorType;
+
+import edu.wpi.first.wpilibj2.command.Command;
+import edu.wpi.first.wpilibj2.command.SubsystemBase;
+import frc.robot.constants.IntakeRollerConstants;
+
+public class IntakeRoller extends SubsystemBase {
+    private SparkMax leftMotor;
+    private SparkMax rightMotor;
+
+    public IntakeRoller() {
+        leftMotor = new SparkMax(IntakeRollerConstants.kLeftMotorCANID, MotorType.kBrushless);
+        rightMotor = new SparkMax(IntakeRollerConstants.kRightMotorCANID, MotorType.kBrushless);
+
+        leftMotor.configure(
+            IntakeRollerConstants.leftMotorConfig, 
+            ResetMode.kResetSafeParameters, 
+            PersistMode.kPersistParameters
+        );
+
+        rightMotor.configure(
+            IntakeRollerConstants.rightMotorConfig, 
+            ResetMode.kResetSafeParameters, 
+            PersistMode.kPersistParameters
+        );
+    }
+
+    public Command runIn() {
+        return run(() -> {
+            leftMotor.set(1);
+        });
+    }
+
+    public Command runOut() {
+        return run(() -> {
+            leftMotor.set(-1);
+        });
+    }
+
+    public Command stop() {
+        return run(() -> {
+            leftMotor.set(0);
+        });
+    }
+    
+}

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

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+package frc.robot.subsystems;
+
+import com.ctre.phoenix6.controls.DutyCycleOut;
+import com.ctre.phoenix6.hardware.TalonFX;
+
+import edu.wpi.first.wpilibj2.command.Command;
+import edu.wpi.first.wpilibj2.command.SubsystemBase;
+import frc.robot.constants.SpindexerConstants;
+
+public class Spindexer extends SubsystemBase {
+    private TalonFX motor;
+
+    private DutyCycleOut motorOutput;
+
+    public Spindexer() {
+        motor = new TalonFX(SpindexerConstants.kMotorCANID);
+
+        motor.getConfigurator().apply(SpindexerConstants.kCurrentLimitConfig);
+        motor.getConfigurator().apply(SpindexerConstants.kMotorConfig);
+
+        motorOutput = new DutyCycleOut(0);
+    }
+
+    public Command spinToShooter() {
+        return run(() -> {
+            motor.setControl(motorOutput.withOutput(1));
+        });
+    }
+
+    public Command spinToIntake() {
+        return run(() -> {
+            motor.setControl(motorOutput.withOutput(-1));
+        });
+    }
+
+    public Command stop() {
+        return run(() -> {
+            motor.setControl(motorOutput.withOutput(0));
+        });
+    }
+    
+}