From ec44dd2d27907aaf73ec4c03846ad836397a446f Mon Sep 17 00:00:00 2001
From: Cayden Brackett <caydenwb10@gmail.com>
Date: Fri, 20 Dec 2024 15:59:22 -0500
Subject: [PATCH] Coded Shooter.java

---
 .../frc/robot/constants/ShooterConstants.java |  6 ++++
 .../java/frc/robot/subsystems/Drivetrain.java |  7 ++--
 .../java/frc/robot/subsystems/Shooter.java    | 32 +++++++++++++++++++
 3 files changed, 43 insertions(+), 2 deletions(-)
 create mode 100644 src/main/java/frc/robot/constants/ShooterConstants.java
 create mode 100644 src/main/java/frc/robot/subsystems/Shooter.java

diff --git a/src/main/java/frc/robot/constants/ShooterConstants.java b/src/main/java/frc/robot/constants/ShooterConstants.java
new file mode 100644
index 0000000..b9ab163
--- /dev/null
+++ b/src/main/java/frc/robot/constants/ShooterConstants.java
@@ -0,0 +1,6 @@
+package frc.robot.constants;
+
+public class ShooterConstants {
+    public static final int K1MotorPWM = 0;
+    public static final int K2MotorPWM = 0;
+}
diff --git a/src/main/java/frc/robot/subsystems/Drivetrain.java b/src/main/java/frc/robot/subsystems/Drivetrain.java
index d167462..8b2cfcc 100644
--- a/src/main/java/frc/robot/subsystems/Drivetrain.java
+++ b/src/main/java/frc/robot/subsystems/Drivetrain.java
@@ -5,6 +5,7 @@ import java.util.function.DoubleSupplier;
 import com.revrobotics.CANSparkMax;
 import com.revrobotics.CANSparkMaxLowLevel.MotorType;
 
+import edu.wpi.first.wpilibj.Encoder;
 import edu.wpi.first.wpilibj.drive.DifferentialDrive;
 import edu.wpi.first.wpilibj.motorcontrol.MotorController;
 import edu.wpi.first.wpilibj2.command.Command;
@@ -16,7 +17,8 @@ public class Drivetrain extends SubsystemBase{
     private MotorController rightFront;
     private MotorController rightRear;
 
-    private DifferentialDrive drive;
+    private DifferentialDrive drive;;
+
 
     private Drivetrain() {
         leftFront = new CANSparkMax(DrivetrainConstants.kLeftFrontID, MotorType.kBrushless);
@@ -29,7 +31,8 @@ public class Drivetrain extends SubsystemBase{
 
         rightFront.setInverted(true);
         
-        drive = new DifferentialDrive(leftFront, rightFront);
+        drive = new DifferentialDrive(leftFront, rightFront);  
+        Encoder Encoder = new Encoder(0,1);
     }
     public Command driveArcade(DoubleSupplier xSpeed, DoubleSupplier zRotation) {
         return run (() -> {
diff --git a/src/main/java/frc/robot/subsystems/Shooter.java b/src/main/java/frc/robot/subsystems/Shooter.java
new file mode 100644
index 0000000..aa8b39c
--- /dev/null
+++ b/src/main/java/frc/robot/subsystems/Shooter.java
@@ -0,0 +1,32 @@
+package frc.robot.subsystems;
+
+
+import java.util.function.DoubleSupplier;
+
+import com.ctre.phoenix.motorcontrol.can.WPI_VictorSPX;
+
+import edu.wpi.first.wpilibj2.command.Command;
+import edu.wpi.first.wpilibj2.command.SubsystemBase;
+import frc.robot.constants.ShooterConstants;
+
+public class Shooter extends SubsystemBase{
+    private WPI_VictorSPX motor1;
+    private WPI_VictorSPX motor2; 
+
+    public Shooter() {
+        motor1 = new WPI_VictorSPX(ShooterConstants.K1MotorPWM);
+        motor2 = new WPI_VictorSPX(ShooterConstants.K2MotorPWM);
+    
+        motor1.follow(motor2); 
+    }
+    public Command setSpeed(DoubleSupplier speed) {
+        //sets the motors speed
+        return run(() -> {
+            motor1.set(speed.getAsDouble());
+        });    
+    }
+    public Command stop() {
+        //stops the motors
+        return setSpeed(() -> 0);
+    }
+}