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/Spindexer.java

@@ -0,0 +1,42 @@
+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));
+        });
+    }
+    
+}