Add Intake and Shooter Subsystems

src/main/java/frc4388/robot/subsystems/Intake.java

@@ -10,6 +10,7 @@ import com.revrobotics.SparkLimitSwitch;
 import edu.wpi.first.wpilibj.CAN;
 import edu.wpi.first.wpilibj.motorcontrol.Spark;
 import edu.wpi.first.wpilibj2.command.SubsystemBase;
+import frc4388.robot.Constants.IntakeConstants;
 
 public class Intake extends SubsystemBase {
   /** Creates a new Intake. */
@@ -20,7 +21,7 @@ public class Intake extends SubsystemBase {
   }
 
   public void spinIntakeMotor() {
-    intakeMotor.set(0.2);
+    intakeMotor.set(IntakeConstants.INTAKE_SPEED);
   }
 
   @Override

src/main/java/frc4388/robot/subsystems/Shooter.java

@@ -0,0 +1,44 @@
+// Copyright (c) FIRST and other WPILib contributors.
+// Open Source Software; you can modify and/or share it under the terms of
+// the WPILib BSD license file in the root directory of this project.
+
+package frc4388.robot.subsystems;
+
+import edu.wpi.first.wpilibj2.command.SubsystemBase;
+import frc4388.robot.Constants.ShooterConstants;
+
+import com.ctre.phoenix.motorcontrol.can.WPI_TalonFX;
+import com.ctre.phoenix.motorcontrol.NeutralMode;
+
+
+public class Shooter extends SubsystemBase {
+  private WPI_TalonFX leftShooter;
+  private WPI_TalonFX rightShooter;
+
+  /** Creates a new Shooter. */
+  public Shooter(WPI_TalonFX leftTalonFX, WPI_TalonFX rightTalonFX) {
+    leftShooter  = leftTalonFX;
+    rightShooter = rightTalonFX;
+
+    leftShooter.setNeutralMode(NeutralMode.Coast);
+    rightShooter.setNeutralMode(NeutralMode.Coast);
+  }
+
+  public void spin() {
+    spin(ShooterConstants.SHOOTER_SPEED);
+  }
+
+  public void spin(double speed) {
+    leftShooter.set(speed);    
+    rightShooter.set(-speed);
+  }
+
+  public void stop() {
+    spin(0.d);
+  }
+
+  @Override
+  public void periodic() {
+    // This method will be called once per scheduler run
+  }
+}