Updates

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

@@ -30,7 +30,7 @@ public class LED extends SubsystemBase implements Queryable {
 
   private static Spark LEDController = new Spark(LEDConstants.LED_SPARK_ID);
   private LEDPatterns mode = LEDConstants.DEFAULT_PATTERN;
-
+//hello
   public void setMode(LEDPatterns pattern){
     this.mode = pattern;
   }

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

@@ -34,6 +34,7 @@ public class Intake extends SubsystemBase {
         switch (mode) {
             case Up:
                 io.setArmAngle(state, IntakeConstants.ARM_LIMIT_UPPER);
+                io.setRollerVelocity(state, IntakeConstants.ROLLER_STOP);
                 break;
             case Down:
                 io.setArmAngle(state, IntakeConstants.ARM_LIMIT_LOWER);

src/main/java/frc4388/robot/subsystems/intake/IntakeConstants.java

@@ -33,7 +33,9 @@ public class IntakeConstants {
     // negative is left, positive is right
     public static final Angle ARM_LIMIT_LOWER = Degrees.of(-180);
     public static final Angle ARM_LIMIT_UPPER = Degrees.of(180);
-    public static final AngularVelocity ROLLER_MAX_VELOCITY = RotationsPerSecond.of(0.0);
+    public static final AngularVelocity ROLLER_MAX_VELOCITY = RotationsPerSecond.of(4.0);
+    public static final AngularVelocity ROLLER_STOP = RotationsPerSecond.of(0.0);
+
 
     public static final Slot0Configs ARM_PID = new Slot0Configs()
         .withKP(2.0)

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

@@ -1,7 +1,5 @@
 package frc4388.robot.subsystems.shooter;
 
-import static edu.wpi.first.units.Units.Rotation;
-
 import java.util.function.Supplier;
 
 import org.littletonrobotics.junction.Logger;
@@ -9,7 +7,8 @@ import org.littletonrobotics.junction.Logger;
 import edu.wpi.first.math.geometry.Pose2d;
 import edu.wpi.first.units.measure.Angle;
 import edu.wpi.first.wpilibj2.command.SubsystemBase;
-import frc4388.utility.status.FaultReporter;
+import frc4388.robot.subsystems.intake.IntakeConstants;
+import frc4388.robot.subsystems.shooter.ShooterIO.ShooterState;
 
 public class Shooter extends SubsystemBase {
     ShooterIO io;
@@ -17,6 +16,7 @@ public class Shooter extends SubsystemBase {
 
     Supplier<Pose2d> m_swervePoseSupplier;
 
+
     public Shooter(
         ShooterIO io,
         Supplier<Pose2d> swervePoseSupplier
@@ -33,12 +33,43 @@ public class Shooter extends SubsystemBase {
         
     }
 
+    
+    public enum ShooterMode {
+        //Shooter is at speed it fires balls
+        Active,
+        //Shooter is at a resting velocity
+        Resting,
+        //Shooter is inactive (Off)
+        Inactive,
+    }
+
+    public void setMode(ShooterMode mode) {
+        switch (mode) {
+            case Active:
+                io.setMotor1Velocity(state, ShooterConstants.SHOOTER_ACTIVE_VELOCITY);
+                io.setMotor2Velocity(state, ShooterConstants.SHOOTER_ACTIVE_VELOCITY);
+                io.setIndexerVelocity(state, ShooterConstants.INDEXER_ACTIVE_VELOCITY);
+                break;
+            case Resting:
+                io.setMotor1Velocity(state, ShooterConstants.SHOOTER_RESTING_VELOCITY);
+                io.setMotor2Velocity(state, ShooterConstants.SHOOTER_RESTING_VELOCITY);
+                io.setIndexerVelocity(state, ShooterConstants.INDEXER_INACTIVE_VELOCITY);
+                break;
+            case Inactive:
+                io.setMotor1Velocity(state, ShooterConstants.SHOOTER_RESTING_VELOCITY);
+                io.setMotor2Velocity(state, ShooterConstants.SHOOTER_RESTING_VELOCITY);
+                io.setIndexerVelocity(state, ShooterConstants.INDEXER_INACTIVE_VELOCITY);
+                break;
+        }
+    }
+
     // Calculate what should be done based off of the position of the robot
     // TODO: Implement field zones
     public FieldZone getTarget(Pose2d position) {
         return FieldZone.InShootZone;
     }
 
+
     @Override
     public void periodic() {
         

src/main/java/frc4388/robot/subsystems/shooter/ShooterConstants.java

@@ -1,6 +1,7 @@
 package frc4388.robot.subsystems.shooter;
 
 import static edu.wpi.first.units.Units.Degrees;
+import static edu.wpi.first.units.Units.RotationsPerSecond;
 
 import com.ctre.phoenix6.configs.CurrentLimitsConfigs;
 import com.ctre.phoenix6.configs.MotorOutputConfigs;
@@ -9,6 +10,7 @@ import com.ctre.phoenix6.configs.TalonFXConfiguration;
 import com.ctre.phoenix6.signals.NeutralModeValue;
 
 import edu.wpi.first.units.measure.Angle;
+import edu.wpi.first.units.measure.AngularVelocity;
 import frc4388.utility.status.CanDevice;
 
 public class ShooterConstants {
@@ -19,6 +21,15 @@ public class ShooterConstants {
     public static final double SHOOTERMOTOR2_GEAR_RATIO = 1.;
     public static final double INDEXER_GEAR_RATIO = 1.;
 
+    public static final AngularVelocity SHOOTER_RESTING_VELOCITY = RotationsPerSecond.of(0.0);
+    public static final AngularVelocity SHOOTER_ACTIVE_VELOCITY = RotationsPerSecond.of(0.0);
+    public static final AngularVelocity SHOOTER_INACTIVE_VELOCITY = RotationsPerSecond.of(0.0);
+    public static final AngularVelocity INDEXER_ACTIVE_VELOCITY = RotationsPerSecond.of(0.0);
+    public static final AngularVelocity INDEXER_INACTIVE_VELOCITY = RotationsPerSecond.of(0.0);
+
+
+
+
     public static Slot0Configs SHOOTER_PID = new Slot0Configs()
         .withKV(0.0)
         .withKP(0.0)