Ugly but functional

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

@@ -11,6 +11,7 @@ import edu.wpi.cscore.MjpegServer;
 import edu.wpi.cscore.UsbCamera;
 import edu.wpi.cscore.VideoSource;
 import edu.wpi.first.cameraserver.CameraServer;
+import edu.wpi.first.networktables.NetworkTableInstance;
 import edu.wpi.first.wpilibj2.command.SubsystemBase;
 
 
@@ -38,8 +39,7 @@ public class Camera extends SubsystemBase {
     catch(Exception e){
       System.err.println("Camera broken, pls nerf");
     }
-
-  }
+  }  
 
   @Override
   public void periodic() {

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

@@ -0,0 +1,35 @@
+/*----------------------------------------------------------------------------*/
+/* Copyright (c) 2019 FIRST. All Rights Reserved.                             */
+/* Open Source Software - may be modified and shared by FRC teams. The code   */
+/* must be accompanied by the FIRST BSD license file in the root directory of */
+/* the project.                                                               */
+/*----------------------------------------------------------------------------*/
+
+package frc4388.robot.subsystems;
+
+import edu.wpi.first.networktables.NetworkTableInstance;
+import edu.wpi.first.wpilibj2.command.SubsystemBase;
+
+public class LimeLight extends SubsystemBase {
+  /**
+   * Creates a new LimeLight.
+   */
+  public LimeLight() {
+
+  }
+
+  public static void limeOff(){
+    NetworkTableInstance.getDefault().getTable("limelight").getEntry("camMode").setNumber(1);
+    NetworkTableInstance.getDefault().getTable("limelight").getEntry("ledMode").setNumber(0);
+  }
+  
+  public static void limeOn(){
+    NetworkTableInstance.getDefault().getTable("limelight").getEntry("camMode").setNumber(0);
+    NetworkTableInstance.getDefault().getTable("limelight").getEntry("ledMode").setNumber(3);
+  }
+
+  @Override
+  public void periodic() {
+    // This method will be called once per scheduler run
+  }
+}

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

@@ -100,9 +100,9 @@ public class Shooter extends SubsystemBase {
   }
 
   /* Angle Adjustment PID Control */
-  public void runAngleAdjustPID(double targetAngle)
+  public void runAngleAdjustPID(double mmtargetAngle)
   {
-    targetAngle = addFireAngle();
+    double targetAngle = addFireAngle();
     // Set PID Coefficients
     m_angleAdjustPIDController.setP(m_angleAdjustGains.m_kP);
     m_angleAdjustPIDController.setI(m_angleAdjustGains.m_kI);

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

@@ -13,6 +13,8 @@ import com.revrobotics.CANSparkMax;
 import com.revrobotics.ControlType;
 import com.revrobotics.CANSparkMax.IdleMode;
 import com.revrobotics.CANSparkMaxLowLevel.MotorType;
+
+import edu.wpi.first.networktables.NetworkTableInstance;
 import edu.wpi.first.wpilibj2.command.SubsystemBase;
 import frc4388.robot.Gains;
 import frc4388.robot.Constants.ShooterConstants;

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

@@ -94,4 +94,15 @@ public class Storage extends SubsystemBase {
   public void setStoragePID(double position){
     m_storagePIDController.setReference(position , ControlType.kPosition);
   }
+
+
+  /*
+  If pressing aim
+    Run until hitting bottom beam
+    dont run intake if balls not at bottom
+  else
+    run unti; hitting top beam
+  
+  2 beamms total
+  */
 }