more subsystems

1 files changed, 33 insertions, 0 deletions

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..f171049
--- /dev/null
+++ b/src/main/java/frc/robot/subsystems/Shooter.java
@@ -0,0 +1,33 @@
+package frc.robot.subsystems;
+
+import org.littletonrobotics.junction.Logger;
+import com.revrobotics.CANSparkMax;
+
+import edu.wpi.first.wpilibj2.command.SubsystemBase;
+import frc.robot.Constants;
+
+public class Shooter extends SubsystemBase 
+{
+    private final CANSparkMax m_shooterT = Constants.shooterT;
+    private final CANSparkMax m_shooterD = Constants.shooterD;
+
+    public Shooter() { }
+
+    public void atPercentage(double perc)
+    {
+        atPercentage(perc, perc);
+    }
+
+    public void atPercentage(double upPerc, double downPerc)
+    {
+        m_shooterT.set(upPerc);
+        m_shooterD.set(downPerc);
+    }
+
+    @Override
+    public void periodic() 
+    {     
+        Logger.recordOutput(getName() + "/speedT", m_shooterT.getEncoder().getVelocity());
+        Logger.recordOutput(getName() + "/speedD", m_shooterD.getEncoder().getVelocity());
+    }
+}