Implement shooter subsystem

build.gradle

@@ -4,6 +4,51 @@ plugins {
     id 'com.diffplug.spotless' version '6.25.0'
 }
 
+spotless {
+    enforceCheck false
+
+    java {
+        target fileTree('.') {
+            include '**/*.java'
+            exclude '**/build/**', '**/build-*/**'
+        }
+        toggleOffOn()
+        googleJavaFormat()
+        removeUnusedImports()
+        trimTrailingWhitespace()
+        endWithNewline()
+    }
+    groovyGradle {
+        target fileTree('.') {
+            include '**/*.gradle'
+            exclude '**/build/**', '**/build-*/**'
+        }
+        greclipse()
+        indentWithSpaces(4)
+        trimTrailingWhitespace()
+        endWithNewline()
+    }
+    format 'xml', {
+        target fileTree('.') {
+            include '**/*.xml'
+            exclude '**/build/**', '**/build-*/**'
+        }
+        eclipseWtp('xml')
+        trimTrailingWhitespace()
+        indentWithSpaces(2)
+        endWithNewline()
+    }
+    format 'misc', {
+        target fileTree('.') {
+            include '**/*.md', '**/.gitignore'
+            exclude '**/build/**', '**/build-*/**'
+        }
+        trimTrailingWhitespace()
+        indentWithSpaces(2)
+        endWithNewline()
+    }
+}
+
 java {
     sourceCompatibility = JavaVersion.VERSION_17
     targetCompatibility = JavaVersion.VERSION_17
@@ -104,46 +149,3 @@ wpi.java.configureTestTasks(test)
 tasks.withType(JavaCompile) {
     options.compilerArgs.add '-XDstringConcat=inline'
 }
-
-spotless {
-    java {
-        target fileTree('.') {
-            include '**/*.java'
-            exclude '**/build/**', '**/build-*/**'
-        }
-        toggleOffOn()
-        googleJavaFormat()
-        removeUnusedImports()
-        trimTrailingWhitespace()
-        endWithNewline()
-    }
-    groovyGradle {
-        target fileTree('.') {
-            include '**/*.gradle'
-            exclude '**/build/**', '**/build-*/**'
-        }
-        greclipse()
-        indentWithSpaces(4)
-        trimTrailingWhitespace()
-        endWithNewline()
-    }
-    format 'xml', {
-        target fileTree('.') {
-            include '**/*.xml'
-            exclude '**/build/**', '**/build-*/**'
-        }
-        eclipseWtp('xml')
-        trimTrailingWhitespace()
-        indentWithSpaces(2)
-        endWithNewline()
-    }
-    format 'misc', {
-        target fileTree('.') {
-            include '**/*.md', '**/.gitignore'
-            exclude '**/build/**', '**/build-*/**'
-        }
-        trimTrailingWhitespace()
-        indentWithSpaces(2)
-        endWithNewline()
-    }
-}

src/main/java/frc/robot/Constants.java

@@ -0,0 +1,8 @@
+package frc.robot;
+
+public final class Constants {
+  public static final int shooterPort = 99;
+  public static final double shooterP = 1;
+  public static final double shooterI = 1;
+  public static final double shooterD = 1;
+}

src/main/java/frc/robot/Robot.java

@@ -1,17 +1,27 @@
 package frc.robot;
 
+import com.revrobotics.CANSparkMax;
+import com.revrobotics.CANSparkMaxLowLevel;
 import edu.wpi.first.wpilibj.TimedRobot;
 import edu.wpi.first.wpilibj2.command.Command;
 import edu.wpi.first.wpilibj2.command.CommandScheduler;
+import frc.robot.subsystems.Shooter;
 
 public class Robot extends TimedRobot {
   private Command m_autonomousCommand;
+  private Shooter m_shooter;
 
-  private RobotContainer m_robotContainer;
+  private Command getAutonomousCommand() {
+    return null;
+  }
 
-  @Override
-  public void robotInit() {
-    m_robotContainer = new RobotContainer();
+  private void configureBindings() {}
+
+  @SuppressWarnings("removal")
+  public Robot() {
+    m_shooter =
+        new Shooter(
+            new CANSparkMax(Constants.shooterPort, CANSparkMaxLowLevel.MotorType.kBrushless));
   }
 
   @Override
@@ -30,7 +40,7 @@ public void disabledExit() {}
 
   @Override
   public void autonomousInit() {
-    m_autonomousCommand = m_robotContainer.getAutonomousCommand();
+    m_autonomousCommand = getAutonomousCommand();
 
     if (m_autonomousCommand != null) {
       m_autonomousCommand.schedule();

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

@@ -0,0 +1,43 @@
+package frc.robot.subsystems;
+
+import com.revrobotics.CANSparkMax;
+import com.revrobotics.RelativeEncoder;
+import edu.wpi.first.math.controller.PIDController;
+import edu.wpi.first.wpilibj2.command.Command;
+import edu.wpi.first.wpilibj2.command.Commands;
+import edu.wpi.first.wpilibj2.command.SubsystemBase;
+import edu.wpi.first.wpilibj2.command.button.Trigger;
+import frc.robot.Constants;
+
+public class Shooter extends SubsystemBase {
+  private PIDController m_pid;
+  private CANSparkMax m_motor;
+  private RelativeEncoder m_encoder;
+
+  public Shooter(CANSparkMax motor) {
+    m_motor = motor;
+    m_encoder = m_motor.getEncoder();
+    m_pid = new PIDController(Constants.shooterP, Constants.shooterI, Constants.shooterD);
+  }
+
+  public Command spinup(double speed) {
+    m_pid.setSetpoint(speed);
+    return Commands.run(
+        () -> {
+          double rads = m_encoder.getVelocity() * 2 * 3.14159;
+          m_motor.setVoltage(m_pid.calculate(rads));
+        });
+  }
+
+  public Command holdspeed() {
+    return Commands.run(
+        () -> {
+          double rads = m_encoder.getVelocity() * 2 * 3.14159;
+          m_motor.setVoltage(m_pid.calculate(rads));
+        });
+  }
+
+  public Trigger atSetpoint() {
+    return new Trigger(m_pid::atSetpoint);
+  }
+}

vendordeps/REVLib.json

@@ -0,0 +1,74 @@
+{
+    "fileName": "REVLib.json",
+    "name": "REVLib",
+    "version": "2024.2.4",
+    "frcYear": "2024",
+    "uuid": "3f48eb8c-50fe-43a6-9cb7-44c86353c4cb",
+    "mavenUrls": [
+        "https://maven.revrobotics.com/"
+    ],
+    "jsonUrl": "https://software-metadata.revrobotics.com/REVLib-2024.json",
+    "javaDependencies": [
+        {
+            "groupId": "com.revrobotics.frc",
+            "artifactId": "REVLib-java",
+            "version": "2024.2.4"
+        }
+    ],
+    "jniDependencies": [
+        {
+            "groupId": "com.revrobotics.frc",
+            "artifactId": "REVLib-driver",
+            "version": "2024.2.4",
+            "skipInvalidPlatforms": true,
+            "isJar": false,
+            "validPlatforms": [
+                "windowsx86-64",
+                "windowsx86",
+                "linuxarm64",
+                "linuxx86-64",
+                "linuxathena",
+                "linuxarm32",
+                "osxuniversal"
+            ]
+        }
+    ],
+    "cppDependencies": [
+        {
+            "groupId": "com.revrobotics.frc",
+            "artifactId": "REVLib-cpp",
+            "version": "2024.2.4",
+            "libName": "REVLib",
+            "headerClassifier": "headers",
+            "sharedLibrary": false,
+            "skipInvalidPlatforms": true,
+            "binaryPlatforms": [
+                "windowsx86-64",
+                "windowsx86",
+                "linuxarm64",
+                "linuxx86-64",
+                "linuxathena",
+                "linuxarm32",
+                "osxuniversal"
+            ]
+        },
+        {
+            "groupId": "com.revrobotics.frc",
+            "artifactId": "REVLib-driver",
+            "version": "2024.2.4",
+            "libName": "REVLibDriver",
+            "headerClassifier": "headers",
+            "sharedLibrary": false,
+            "skipInvalidPlatforms": true,
+            "binaryPlatforms": [
+                "windowsx86-64",
+                "windowsx86",
+                "linuxarm64",
+                "linuxx86-64",
+                "linuxathena",
+                "linuxarm32",
+                "osxuniversal"
+            ]
+        }
+    ]
+}