Added Endeffector and Gear Ratios

Created Endeffector Subsystem and added Gear Ratios.

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

@@ -0,0 +1,56 @@
+// 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 com.ctre.phoenix6.controls.PositionVoltage;
+import com.ctre.phoenix6.hardware.TalonFX;
+import com.ctre.phoenix6.signals.NeutralModeValue;
+
+import edu.wpi.first.wpilibj2.command.SubsystemBase;
+import frc4388.robot.Constants.EndeffectorConstants;
+
+public class Endeffector extends SubsystemBase {
+  /** Creates a new Endefector. */
+  private TalonFX endeffectorMotor;
+  public Endeffector(TalonFX endffectorTalonFX) {
+    endeffectorMotor = endffectorTalonFX;
+
+    endeffectorMotor.setNeutralMode(NeutralModeValue.Brake);
+  }
+
+  public void PIDPosition(double position) {
+    var request = new PositionVoltage(position);
+    endeffectorMotor.setControl(request);
+  }
+
+  public void PIDTop() {
+    PIDPosition(EndeffectorConstants.TOP);
+  }
+
+  public void PIDMiddle() {
+    PIDPosition(EndeffectorConstants.MIDDLE);
+  }
+
+  public void PIDBottom() {
+    PIDPosition(EndeffectorConstants.BOTTOM);
+  }
+
+  public void endeffectorTop() {
+    endeffectorMotor.set(EndeffectorConstants.TOP);
+  }
+  
+  public void endeffectorMiddle() {
+    endeffectorMotor.set(EndeffectorConstants.MIDDLE);
+  }
+
+  public void endeffectorBottom() {
+    endeffectorMotor.set(EndeffectorConstants.BOTTOM);
+  }
+
+  @Override
+  public void periodic() {
+    // This method will be called once per scheduler run
+  }
+}