Intake Code (not tested/no values)

src/main/java/frc4388/robot/RobotContainer.java

@@ -12,6 +12,7 @@ import edu.wpi.first.wpilibj.DriverStation;
 import edu.wpi.first.cameraserver.CameraServer;
 import edu.wpi.first.wpilibj.GenericHID;
 import frc4388.utility.controller.XboxController;
+import frc4388.utility.controller.DeadbandedWhateverController;
 import frc4388.utility.controller.DeadbandedXboxController;
 import frc4388.robot.Constants.OIConstants;
 import edu.wpi.first.wpilibj2.command.button.JoystickButton;
@@ -59,7 +60,7 @@ public class RobotContainer {
     public final Shooter m_robotShooter = new Shooter(m_robotMap.leftShooter, m_robotMap.rightShooter);
 
     /* Controllers */
-    private final DeadbandedXboxController m_driverXbox   = new DeadbandedXboxController(OIConstants.XBOX_DRIVER_ID);
+    private final DeadbandedXboxController m_driverXbox   = new DeadbandedWhateverController(OIConstants.XBOX_DRIVER_ID);
     private final DeadbandedXboxController m_operatorXbox = new DeadbandedXboxController(OIConstants.XBOX_OPERATOR_ID);    
     private final DeadbandedXboxController m_autoRecorderXbox = new DeadbandedXboxController(OIConstants.XBOX_PROGRAMMER_ID);
 

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

@@ -0,0 +1,17 @@
+// 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;
+
+public class Intake extends SubsystemBase {
+  /** Creates a new Intake. */
+  public Intake() {}
+
+  @Override
+  public void periodic() {
+    // This method will be called once per scheduler run
+  }
+}

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

@@ -0,0 +1,17 @@
+// 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;
+
+public class Microbot extends SubsystemBase {
+  /** Creates a new Microbot. */
+  public Microbot() {}
+
+  @Override
+  public void periodic() {
+    // This method will be called once per scheduler run
+  }
+}

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

@@ -24,8 +24,8 @@ public class Shooter extends SubsystemBase {
   }
 
   public void spin(double speed) {
-    leftShooter.set(speed);
+    leftShooter.set(-speed);
-    rightShooter.set(speed);
+    rightShooter.set(-speed);
   }
 
   public void spin() {

src/main/java/frc4388/utility/controller/DeadbandedWhateverController.java

@@ -0,0 +1,19 @@
+// 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.utility.controller;
+
+import static frc4388.robot.Constants.OIConstants.LEFT_AXIS_DEADBAND;
+
+import edu.wpi.first.math.geometry.Translation2d;
+import edu.wpi.first.wpilibj.XboxController;
+
+/** Add your docs here. */
+public class DeadbandedWhateverController extends DeadbandedXboxController {
+  public DeadbandedWhateverController(int port) {
+        super(port);
+    }
+
+    @Override public Translation2d getRight() { return skewToDeadzonedCircle(-getRawAxis(2), getRawAxis(3)); }
+}

src/main/java/frc4388/utility/controller/XboxController.java

@@ -15,6 +15,8 @@ public class XboxController implements IHandController
 	public static final int RIGHT_TRIGGER_AXIS = 3;
 	public static final int RIGHT_X_AXIS = 4;
 	public static final int RIGHT_Y_AXIS = 5;
+	public static final int RIGHT_Z_AXIS = 2;
+	public static final int RIGHT_Z_ROTATION = 3;
 	public static final int LEFT_RIGHT_DPAD_AXIS = 6;
 	public static final int TOP_BOTTOM_DPAD_AXIS = 6;