i did it without stupid AI Thing

AI Sucks. Humans are Superior

src/main/java/frc4388/robot/Constants.java

@@ -146,4 +146,11 @@ public final class Constants {
         public static final double LEFT_AXIS_DEADBAND = 0.1;
 
     }
+
+    public static final class ShooterConstants
+    {
+        public static final int LEFT_SHOOTER_ID = 15;
+        public static final int RIGHT_SHOOTER_ID = 16;
+        public static final double SHOOTER_SPEED = 0.50;
+    }
 }

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

@@ -30,6 +30,7 @@ import frc4388.robot.commands.Swerve.neoJoystickRecorder;
 // Subsystems
 // import frc4388.robot.subsystems.LED;
 import frc4388.robot.subsystems.SwerveDrive;
+import frc4388.robot.subsystems.Shooter;
 
 // Utilites
 import frc4388.utility.DeferredBlock;
@@ -55,7 +56,7 @@ public class RobotContainer {
                                                                   m_robotMap.rightBack,
                                               
                                                                   m_robotMap.gyro);
-
+    private 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_operatorXbox = new DeadbandedXboxController(OIConstants.XBOX_OPERATOR_ID);    
@@ -151,7 +152,9 @@ public class RobotContainer {
             .onTrue(new InstantCommand(() -> m_robotSwerveDrive.shiftUpRot()));
           
         // ?  /* Operator Buttons */
-            
+        DualJoystickButton(getDeadbandedOperatorController(), getVirtualOperatorController(), XboxController.LEFT_BUMPER_BUTTON)
+            .onTrue(new InstantCommand(() -> m_robotShooter.spin(), m_robotShooter))
+            .onFalse(new InstantCommand(() -> m_robotShooter.stop(), m_robotShooter));
         // ? /* Programer Buttons (Controller 3)*/
 
         // * /* Auto Recording */

src/main/java/frc4388/robot/RobotMap.java

@@ -11,9 +11,11 @@ import com.ctre.phoenix6.hardware.TalonFX;
 import com.ctre.phoenix6.hardware.CANcoder;
 import com.ctre.phoenix6.hardware.Pigeon2;
 
+import frc4388.robot.Constants.ShooterConstants;
 // import edu.wpi.first.wpilibj.motorcontrol.Spark;
 // import frc4388.robot.Constants.LEDConstants;
 import frc4388.robot.Constants.SwerveDriveConstants;
+import frc4388.robot.subsystems.Shooter;
 import frc4388.robot.subsystems.SwerveModule;
 import frc4388.utility.RobotGyro;
 
@@ -55,6 +57,9 @@ public class RobotMap {
     public final TalonFX rightBackSteer = new TalonFX(SwerveDriveConstants.IDs.RIGHT_BACK_STEER_ID);
     public final CANcoder rightBackEncoder = new CANcoder(SwerveDriveConstants.IDs.RIGHT_BACK_ENCODER_ID);
 
+    public final TalonFX rightShooter = new TalonFX(ShooterConstants.RIGHT_SHOOTER_ID);
+    public final TalonFX leftShooter = new TalonFX(ShooterConstants.LEFT_SHOOTER_ID);
+
     void configureDriveMotorControllers() {
         // initialize SwerveModules
         this.rightFront = new SwerveModule(rightFrontWheel, rightFrontSteer, rightFrontEncoder, SwerveDriveConstants.DefaultSwerveRotOffsets.FRONT_RIGHT_ROT_OFFSET);

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

@@ -0,0 +1,47 @@
+// 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 com.ctre.phoenix6.hardware.TalonFX;
+import com.ctre.phoenix6.signals.NeutralModeValue;
+import frc4388.robot.Constants.ShooterConstants;
+
+public class Shooter extends SubsystemBase 
+{
+  private TalonFX leftShooter;
+  private TalonFX rightShooter;
+
+  /** Creates a new Shooter. */
+  public Shooter(TalonFX leftShooterMotor, TalonFX rightShooterMotor)
+  {
+    leftShooter = leftShooterMotor;
+    rightShooter = rightShooterMotor;
+
+    leftShooter.setNeutralMode(NeutralModeValue.Coast);
+    rightShooter.setNeutralMode(NeutralModeValue.Coast);
+  }
+
+  public void spin(double speed)
+  {
+    leftShooter.set(speed);
+    rightShooter.set(speed);
+  }
+
+  public void spin()
+  {
+    spin(ShooterConstants.SHOOTER_SPEED);
+  }
+
+  public void stop()
+  {
+    spin(0);
+  }
+
+  @Override
+  public void periodic() {
+    // This method will be called once per scheduler run
+  }
+}