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/IntakeRoller.java

@@ -0,0 +1,51 @@
+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);
+        });
+    }
+    
+}