Merge branch 'master' into fix-drive-straight-position-pid

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

@@ -66,12 +66,42 @@ public final class Constants {
     }
     
     public static final class IntakeConstants {
-        public static final int INTAKE_SPARK_ID = 1;
+        public static final int INTAKE_SPARK_ID = 9;
+        public static final int EXTENDER_SPARK_ID = 10;
     }
+  
+    public static final class ShooterConstants {
+        public static final int SHOOTER_FALCON_ID = 8;
 
+        /* PID Constants Shooter */
+        public static final int SHOOTER_SLOT_IDX = 0;
+        public static final int SHOOTER_PID_LOOP_IDX = 1;
+        public static final int SHOOTER_TIMEOUT_MS = 30;
+        public static final Gains SHOOTER_GAINS = new Gains(0.4, 0.0005, 13, 0.05, 0, 1.0);
+        
+        public static final double ENCODER_TICKS_PER_REV = 2048;
+    }
+    
+    public static final class ClimberConstants {
+        public static final int CLIMBER_SPARK_ID = 10;
+    }
+  
+    public static final class LevelerConstants {
+        public static final int LEVELER_CAN_ID = -1;
+    }
+  
+    public static final class StorageConstants {
+        public static final int STORAGE_CAN_ID = -1;
+        public static final int BEAM_SENSOR_DIO_0 = 0;
+        public static final int BEAM_SENSOR_DIO_1 = 1;
+        public static final int BEAM_SENSOR_DIO_2 = 2;
+        public static final int BEAM_SENSOR_DIO_3 = 3;
+        public static final int BEAM_SENSOR_DIO_4 = 4;
+        public static final int BEAM_SENSOR_DIO_5 = 5;
+    }
+  
     public static final class LEDConstants {
         public static final int LED_SPARK_ID = 0;
-
         public static final LEDPatterns DEFAULT_PATTERN = LEDPatterns.FOREST_WAVES;
     }
 

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

@@ -20,10 +20,21 @@ import frc4388.robot.commands.DriveStraightToPositionMM;
 import frc4388.robot.commands.DriveStraightToPositionPID;
 import frc4388.robot.commands.DriveWithJoystick;
 import frc4388.robot.commands.DriveWithJoystickAuxPID;
+import frc4388.robot.commands.RunClimberWithTriggers;
+import frc4388.robot.commands.RunExtenderOutIn;
 import frc4388.robot.commands.RunIntakeWithTriggers;
+import frc4388.robot.commands.ShooterVelocityControlPID;
 import frc4388.robot.subsystems.Drive;
 import frc4388.robot.subsystems.Intake;
 import frc4388.robot.subsystems.LED;
+import frc4388.robot.subsystems.Shooter;
+import frc4388.robot.subsystems.Climber;
+import frc4388.robot.commands.RunLevelerWithJoystick;
+import frc4388.robot.subsystems.Drive;
+import frc4388.robot.subsystems.Intake;
+import frc4388.robot.subsystems.LED;
+import frc4388.robot.subsystems.Leveler;
+import frc4388.robot.subsystems.Storage;
 import frc4388.utility.LEDPatterns;
 import frc4388.utility.controller.IHandController;
 import frc4388.utility.controller.XboxController;
@@ -40,6 +51,10 @@ public class RobotContainer {
     private final Drive m_robotDrive = new Drive();
     private final LED m_robotLED = new LED();
     private final Intake m_robotIntake = new Intake();
+    private final Shooter m_robotShooter = new Shooter();
+    private final Climber m_robotClimber = new Climber();
+    private final Leveler m_robotLeveler = new Leveler();
+    private final Storage m_robotStorage = new Storage();
 
     /* Controllers */
     private final XboxController m_driverXbox = new XboxController(OIConstants.XBOX_DRIVER_ID);
@@ -54,10 +69,18 @@ public class RobotContainer {
         /* Default Commands */
         // drives the robot with a two-axis input from the driver controller
         m_robotDrive.setDefaultCommand(new DriveWithJoystick(m_robotDrive, getDriverController()));
-        // drives motor with input from triggers on the opperator controller
+        // drives intake with input from triggers on the opperator controller
         m_robotIntake.setDefaultCommand(new RunIntakeWithTriggers(m_robotIntake, getOperatorController()));
+        // drives climber with input from triggers on the opperator controller
+        m_robotClimber.setDefaultCommand(new RunClimberWithTriggers(m_robotClimber, getDriverController()));
         // continually sends updates to the Blinkin LED controller to keep the lights on
         m_robotLED.setDefaultCommand(new RunCommand(() -> m_robotLED.updateLED(), m_robotLED));
+        // runs the drum shooter in idle mode
+        m_robotShooter.setDefaultCommand(new RunCommand(() -> m_robotShooter.runDrumShooter(0.15), m_robotShooter));
+        // drives the leveler with an axis input from the driver controller
+        m_robotLeveler.setDefaultCommand(new RunLevelerWithJoystick(m_robotLeveler, getDriverController()));
+        // runs storage motor at 50 percent
+        m_robotStorage.setDefaultCommand(new RunCommand(() -> m_robotStorage.runStorage(0.0), m_robotStorage));
     }
 
     /**
@@ -70,28 +93,47 @@ public class RobotContainer {
         /* Driver Buttons */
         new JoystickButton(getDriverJoystick(), XboxController.A_BUTTON)
             .whenPressed(new DriveStraightToPositionPID(m_robotDrive, 144));
-        // runs velocity PID while driving straight
-        new JoystickButton(getDriverJoystick(), XboxController.B_BUTTON)
-            .whenPressed(new DriveStraightAtVelocityPID(m_robotDrive, 500))
-            .whenReleased(new InstantCommand(() -> System.out.print("Gamer"), m_robotDrive));
-        
-        new JoystickButton(getDriverJoystick(), XboxController.RIGHT_BUMPER_BUTTON)
-            .whileHeld(new DriveWithJoystickAuxPID(m_robotDrive, getDriverController()));
-        // resets the yaw of the pigeon
-        new JoystickButton(getDriverJoystick(), XboxController.X_BUTTON)
-            .whenPressed(new DriveStraightToPositionMM(m_robotDrive, 72));
-        // turn 45 degrees
-        new JoystickButton(getDriverJoystick(), XboxController.Y_BUTTON)
-            .whenPressed(new RunCommand(() -> m_robotDrive.runTurningPID(45), m_robotDrive));
-        // interrupts any running command
-        new JoystickButton(getDriverJoystick(), XboxController.LEFT_JOYSTICK_BUTTON)
-            .whenPressed(new InstantCommand(() -> System.out.print("Gamer"), m_robotDrive));
 
         /* Operator Buttons */
         // activates "Lit Mode"
         new JoystickButton(getOperatorJoystick(), XboxController.A_BUTTON)
             .whenPressed(() -> m_robotLED.setPattern(LEDPatterns.LAVA_RAINBOW))
             .whenReleased(() -> m_robotLED.setPattern(LEDConstants.DEFAULT_PATTERN));
+      
+        new JoystickButton(getOperatorJoystick(), XboxController.X_BUTTON)
+            .whileHeld(new ShooterVelocityControlPID(m_robotShooter, 4000));
+        
+        new JoystickButton(getOperatorJoystick(), XboxController.LEFT_BUMPER_BUTTON)
+            .whenPressed(new RunExtenderOutIn(m_robotIntake));
+      
+        /* PID Test Command */
+        // runs velocity PID while driving straight
+        new JoystickButton(getDriverJoystick(), XboxController.B_BUTTON)
+            .whenPressed(new DriveStraightAtVelocityPID(m_robotDrive, 500))
+            .whenReleased(new InstantCommand(() -> System.out.print("Gamer"), m_robotDrive));
+        
+        //new JoystickButton(getDriverJoystick(), XboxController.RIGHT_BUMPER_BUTTON)
+        //    .whileHeld(new DriveWithJoystickAuxPID(m_robotDrive, getDriverController()));
+      
+        // resets the yaw of the pigeon
+        new JoystickButton(getDriverJoystick(), XboxController.X_BUTTON)
+            .whenPressed(new DriveStraightToPositionMM(m_robotDrive, 72));
+      
+        // turn 45 degrees
+        new JoystickButton(getDriverJoystick(), XboxController.Y_BUTTON)
+            .whenPressed(new RunCommand(() -> m_robotDrive.runTurningPID(45), m_robotDrive));
+
+        // sets solenoids into high gear
+        new JoystickButton(getDriverJoystick(), XboxController.START_BUTTON)
+            .whenPressed(new InstantCommand(() -> m_robotDrive.setShiftState(true), m_robotDrive));
+
+        // sets solenoids into low gear
+        new JoystickButton(getDriverJoystick(), XboxController.BACK_BUTTON)
+            .whenPressed(new InstantCommand(() -> m_robotDrive.setShiftState(false), m_robotDrive));
+        
+        // interrupts any running command
+        new JoystickButton(getDriverJoystick(), XboxController.LEFT_JOYSTICK_BUTTON)
+            .whenPressed(new InstantCommand(() -> System.out.print("Gamer"), m_robotDrive));
     }
       
     /**

src/main/java/frc4388/robot/commands/RunClimberWithTriggers.java

@@ -0,0 +1,63 @@
+/*----------------------------------------------------------------------------*/
+/* 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.commands;
+
+import edu.wpi.first.wpilibj2.command.CommandBase;
+import frc4388.robot.subsystems.Climber;
+import frc4388.utility.controller.IHandController;
+
+public class RunClimberWithTriggers extends CommandBase {
+  private Climber m_climber;
+  private IHandController m_controller;
+
+  /**
+   * Uses input from opperator triggers to control climber motor
+   * @param subsystem the climber subsystem
+   * @param controller the driver controller
+   */
+  public RunClimberWithTriggers(Climber subsystem, IHandController controller) {
+    m_climber = subsystem;
+    m_controller = controller;
+    addRequirements(m_climber);
+  }
+
+  // Called when the command is initially scheduled.
+  @Override
+  public void initialize() {
+  }
+
+  // Called every time the scheduler runs while the command is scheduled.
+  @Override
+  public void execute() {
+    double rightTrigger = m_controller.getRightTriggerAxis();
+    double leftTrigger = m_controller.getLeftTriggerAxis();
+    double output = 0;
+    if (rightTrigger < .5) {
+      if(rightTrigger > leftTrigger) {
+        output = rightTrigger;
+      }
+      if (leftTrigger > rightTrigger) {
+        output = -leftTrigger;
+      }
+    } else {
+      output = rightTrigger;
+    }
+    m_climber.runClimber(output);
+  }
+
+  // Called once the command ends or is interrupted.
+  @Override
+  public void end(boolean interrupted) {
+  }
+
+  // Returns true when the command should end.
+  @Override
+  public boolean isFinished() {
+    return false;
+  }
+}

src/main/java/frc4388/robot/commands/RunExtenderOutIn.java

@@ -0,0 +1,62 @@
+/*----------------------------------------------------------------------------*/
+/* 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.commands;
+
+import edu.wpi.first.wpilibj2.command.CommandBase;
+import frc4388.robot.subsystems.Intake;
+import frc4388.utility.controller.IHandController;
+
+public class RunExtenderOutIn extends CommandBase {
+  private Intake m_intake;
+  private boolean isOut = false;
+  private long startTime;
+
+  /**
+   * Uses input from opperator to run the extender motor.
+   * The left bumper will run the extender in and out.
+   * @param subsystem pass the Intake subsystem from {@link frc4388.robot.RobotContainer#RobotContainer() RobotContainer}
+   */
+  public RunExtenderOutIn(Intake subsystem) {
+    // Use addRequirements() here to declare subsystem dependencies.
+    m_intake = subsystem;
+    addRequirements(m_intake);
+  }
+
+  // Called when the command is initially scheduled.
+  @Override
+  public void initialize() {
+    isOut = !isOut;
+    startTime = System.currentTimeMillis();
+  }
+
+  // Called every time the scheduler runs while the command is scheduled.
+  @Override
+  public void execute() {
+    if (isOut){
+      m_intake.runExtender(0.3);
+    } else {
+      m_intake.runExtender(-0.3);
+    }
+
+  }
+
+  // Called once the command ends or is interrupted.
+  @Override
+  public void end(boolean interrupted) {
+    m_intake.runExtender(0.0);
+  }
+
+  // Returns true when the command should end.
+  @Override
+  public boolean isFinished() {
+    if (startTime + 3000 < System.currentTimeMillis()) {
+      return true;
+    }
+    return false;
+  }
+}

src/main/java/frc4388/robot/commands/RunLevelerWithJoystick.java

@@ -0,0 +1,53 @@
+/*----------------------------------------------------------------------------*/
+/* 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.commands;
+
+import edu.wpi.first.wpilibj2.command.CommandBase;
+import frc4388.robot.subsystems.Leveler;
+import frc4388.utility.controller.IHandController;
+
+public class RunLevelerWithJoystick extends CommandBase {
+  private Leveler m_leveler;
+  private IHandController m_controller;
+
+  /**
+   * Creates a new RunLevelerWithJoystick to control the leveler with an Xbox controller.
+   * @param subsystem pass the Drive subsystem from {@link frc4388.robot.RobotContainer#RobotContainer() RobotContainer}
+   * @param controller pass the Driver {@link frc4388.utility.controller.IHandController#getClass() IHandController} using the
+   * {@link frc4388.robot.RobotContainer#getDriverJoystick() getDriverJoystick()} method in
+   * {@link frc4388.robot.RobotContainer#RobotContainer() RobotContainer}
+   */
+  public RunLevelerWithJoystick(Leveler subsystem, IHandController controller) {
+    m_leveler = subsystem;
+    m_controller = controller;
+    addRequirements(m_leveler);
+  }
+
+  // Called when the command is initially scheduled.
+  @Override
+  public void initialize() {
+  }
+
+  // Called every time the scheduler runs while the command is scheduled.
+  @Override
+  public void execute() {
+    double input = m_controller.getLeftXAxis();
+    m_leveler.runLeveler(input);
+  }
+
+  // Called once the command ends or is interrupted.
+  @Override
+  public void end(boolean interrupted) {
+  }
+
+  // Returns true when the command should end.
+  @Override
+  public boolean isFinished() {
+    return false;
+  }
+}

src/main/java/frc4388/robot/commands/ShooterVelocityControlPID.java

@@ -0,0 +1,48 @@
+/*----------------------------------------------------------------------------*/
+/* 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.commands;
+
+import edu.wpi.first.wpilibj2.command.CommandBase;
+import frc4388.robot.subsystems.Shooter;
+
+public class ShooterVelocityControlPID extends CommandBase {
+  Shooter m_shooter;
+  double m_targetVel;
+  /**
+   * Creates a new ShooterVelocityControlPID.
+   */
+  public ShooterVelocityControlPID(Shooter subsystem, double targetVel) {
+    // Use addRequirements() here to declare subsystem dependencies.
+    m_shooter = subsystem;
+    m_targetVel = targetVel;
+    addRequirements(m_shooter);
+  }
+
+  // Called when the command is initially scheduled.
+  @Override
+  public void initialize() {
+  }
+
+  // Called every time the scheduler runs while the command is scheduled.
+  @Override
+  public void execute() {
+    System.err.println(m_shooter.m_shooterFalcon.getSelectedSensorVelocity());
+    m_shooter.runDrumShooterVelocityPID(m_targetVel, m_shooter.m_shooterFalcon.getSelectedSensorVelocity());
+  }
+
+  // Called once the command ends or is interrupted.
+  @Override
+  public void end(boolean interrupted) {
+  }
+
+  // Returns true when the command should end.
+  @Override
+  public boolean isFinished() {
+    return false;
+  }
+}

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

@@ -0,0 +1,46 @@
+/*----------------------------------------------------------------------------*/
+/* 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 com.revrobotics.CANDigitalInput;
+import com.revrobotics.CANSparkMax;
+import com.revrobotics.CANDigitalInput.LimitSwitchPolarity;
+import com.revrobotics.CANSparkMaxLowLevel.MotorType;
+
+import edu.wpi.first.wpilibj2.command.SubsystemBase;
+import frc4388.robot.Constants.ClimberConstants;
+
+public class Climber extends SubsystemBase {
+  CANSparkMax m_climberMotor = new CANSparkMax(ClimberConstants.CLIMBER_SPARK_ID, MotorType.kBrushless);
+  CANDigitalInput m_forwardLimit, m_reverseLimit;
+  /**
+   * Creates a new Climber.
+   */
+  public Climber() {
+    m_climberMotor.restoreFactoryDefaults();
+    
+    m_forwardLimit = m_climberMotor.getForwardLimitSwitch(LimitSwitchPolarity.kNormallyClosed);
+    m_reverseLimit = m_climberMotor.getReverseLimitSwitch(LimitSwitchPolarity.kNormallyClosed);
+
+    m_forwardLimit.enableLimitSwitch(false);
+    m_reverseLimit.enableLimitSwitch(false);
+  }
+
+  @Override
+  public void periodic() {
+    // This method will be called once per scheduler run
+  }
+
+  /**
+   * Runs climber motor
+   * @param input the voltage to run motor at
+   */
+  public void runClimber(double input) {
+    m_climberMotor.set(input);
+  }
+}

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

@@ -21,6 +21,7 @@ import com.ctre.phoenix.motorcontrol.can.WPI_TalonFX;
 import com.ctre.phoenix.sensors.PigeonIMU;
 import com.ctre.phoenix.sensors.PigeonIMU_StatusFrame;
 
+import edu.wpi.first.wpilibj.DoubleSolenoid;
 import edu.wpi.first.wpilibj.drive.DifferentialDrive;
 import edu.wpi.first.wpilibj.shuffleboard.Shuffleboard;
 import edu.wpi.first.wpilibj.smartdashboard.SendableChooser;
@@ -50,6 +51,8 @@ public class Drive extends SubsystemBase {
   public static Gains m_gainsTurning = DriveConstants.DRIVE_TURNING_GAINS;
   public static Gains m_gainsMotionMagic = DriveConstants.DRIVE_MOTION_MAGIC_GAINS;
 
+  public DoubleSolenoid speedShift;
+
   /**
    * Add your docs here.
    */
@@ -62,6 +65,8 @@ public class Drive extends SubsystemBase {
     m_pigeon.configFactoryDefault();
     resetGyroYaw();
 
+    speedShift = new DoubleSolenoid(7,0,1);
+
     /* set back motors as followers */
     m_leftBackMotor.follow(m_leftFrontMotor);
     m_rightBackMotor.follow(m_rightFrontMotor);
@@ -79,7 +84,6 @@ public class Drive extends SubsystemBase {
     m_leftBackMotor.setInverted(InvertType.FollowMaster);
     m_rightBackMotor.setInverted(InvertType.FollowMaster);
 
-
     m_rightFrontMotor.selectProfileSlot(DriveConstants.SLOT_VELOCITY, DriveConstants.PID_PRIMARY);
     m_rightFrontMotor.config_kF(DriveConstants.SLOT_VELOCITY, m_gainsVelocity.m_kF, DriveConstants.DRIVE_TIMEOUT_MS);
     m_rightFrontMotor.config_kP(DriveConstants.SLOT_VELOCITY, m_gainsVelocity.m_kP, DriveConstants.DRIVE_TIMEOUT_MS);
@@ -244,6 +248,7 @@ public class Drive extends SubsystemBase {
       SmartDashboard.putNumber("Right Motor Velocity Raw", m_rightFrontMotor.getSelectedSensorVelocity());
       SmartDashboard.putNumber("Left Motor Position Raw", m_leftFrontMotor.getSelectedSensorPosition());
       SmartDashboard.putNumber("Right Motor Position Raw", m_rightFrontMotor.getSelectedSensorPosition(0));
+
       SmartDashboard.putNumber("Right Motor Velocity Int Sensor", m_rightFrontMotor.getSensorCollection().getIntegratedSensorVelocity());
       SmartDashboard.putNumber("Left Motor Velocity Int Sensor", m_leftFrontMotor.getSensorCollection().getIntegratedSensorVelocity());
 
@@ -430,4 +435,17 @@ public class Drive extends SubsystemBase {
     m_pigeon.setYaw(0);
     m_pigeon.setAccumZAngle(0);
   }
+
+  /**
+   * Set to high or low gear based on boolean state, true = high, false = low
+   * @param state Chooses between high or low gear
+   */
+  public void setShiftState(boolean state) {
+    if (state == true) {
+			speedShift.set(DoubleSolenoid.Value.kForward);
+		}
+		if (state == false) {
+			speedShift.set(DoubleSolenoid.Value.kReverse);
+		}
+  }
 }

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

@@ -7,18 +7,38 @@
 
 package frc4388.robot.subsystems;
 
+import com.revrobotics.CANDigitalInput;
+import com.revrobotics.CANSparkMax;
+import com.revrobotics.CANDigitalInput.LimitSwitchPolarity;
+import com.revrobotics.CANSparkMax.IdleMode;
+import com.revrobotics.CANSparkMaxLowLevel.MotorType;
+
 import edu.wpi.first.wpilibj.Spark;
 import edu.wpi.first.wpilibj2.command.SubsystemBase;
 import frc4388.robot.Constants.IntakeConstants;
 
 public class Intake extends SubsystemBase {
-  Spark m_intakeMotor = new Spark(IntakeConstants.INTAKE_SPARK_ID);
-  
+  CANSparkMax m_intakeMotor = new CANSparkMax(IntakeConstants.INTAKE_SPARK_ID, MotorType.kBrushless);
+  CANSparkMax m_extenderMotor = new CANSparkMax(IntakeConstants.EXTENDER_SPARK_ID, MotorType.kBrushless);
+  CANDigitalInput m_extenderForwardLimit;
+  CANDigitalInput m_extenderReverseLimit;
+
   /**
    * Creates a new Intake.
    */
   public Intake() {
+    m_intakeMotor.restoreFactoryDefaults();
+    m_extenderMotor.restoreFactoryDefaults();
+
+    m_intakeMotor.setIdleMode(IdleMode.kCoast);
+    m_extenderMotor.setIdleMode(IdleMode.kBrake);
     m_intakeMotor.setInverted(false);
+    m_extenderMotor.setInverted(false);
+    
+    m_extenderForwardLimit = m_extenderMotor.getForwardLimitSwitch(LimitSwitchPolarity.kNormallyClosed);
+    m_extenderReverseLimit = m_extenderMotor.getReverseLimitSwitch(LimitSwitchPolarity.kNormallyClosed);
+    m_extenderForwardLimit.enableLimitSwitch(false);
+    m_extenderReverseLimit.enableLimitSwitch(false);
   }
 
   @Override
@@ -33,4 +53,12 @@ public class Intake extends SubsystemBase {
   public void runIntake(double input) {
     m_intakeMotor.set(input);
   }
+  
+   /**
+   * Runs extender motor
+   * @param input the percent output to run motor at
+   */
+  public void runExtender(double input) {
+    m_extenderMotor.set(input);
+  }
 }

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

@@ -0,0 +1,45 @@
+/*----------------------------------------------------------------------------*/
+/* 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 com.ctre.phoenix.motorcontrol.NeutralMode;
+import com.ctre.phoenix.motorcontrol.can.TalonSRX;
+import com.ctre.phoenix.motorcontrol.can.WPI_TalonSRX;
+import com.revrobotics.CANSparkMax;
+import com.revrobotics.CANSparkMax.IdleMode;
+import com.revrobotics.CANSparkMaxLowLevel.MotorType;
+
+import edu.wpi.first.wpilibj.Talon;
+import edu.wpi.first.wpilibj2.command.SubsystemBase;
+import frc4388.robot.Constants.LevelerConstants;
+
+public class Leveler extends SubsystemBase {
+  CANSparkMax m_levelerMotor = new CANSparkMax(LevelerConstants.LEVELER_CAN_ID, MotorType.kBrushless);
+
+  /**
+   * Creates a new Leveler.
+   */
+  public Leveler() {
+    m_levelerMotor.restoreFactoryDefaults();
+    m_levelerMotor.setIdleMode(IdleMode.kCoast);
+    m_levelerMotor.setInverted(false);
+  }
+
+  @Override
+  public void periodic() {
+    // This method will be called once per scheduler run
+  }
+
+  /**
+   * Runs intake motor
+   * @param input the percent output to run motor at
+   */
+  public void runLeveler(double input) {
+    m_levelerMotor.set(input);
+  }
+}

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

@@ -0,0 +1,90 @@
+/*----------------------------------------------------------------------------*/
+/* 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 com.ctre.phoenix.motorcontrol.NeutralMode;
+import com.ctre.phoenix.motorcontrol.TalonFXControlMode;
+import com.ctre.phoenix.motorcontrol.can.WPI_TalonFX;
+
+import edu.wpi.first.wpilibj.smartdashboard.SmartDashboard;
+import edu.wpi.first.wpilibj2.command.SubsystemBase;
+import frc4388.robot.Gains;
+import frc4388.robot.Constants.DriveConstants;
+import frc4388.robot.Constants.ShooterConstants;
+
+public class Shooter extends SubsystemBase {
+
+  public WPI_TalonFX m_shooterFalcon = new WPI_TalonFX(ShooterConstants.SHOOTER_FALCON_ID);
+
+  public static Gains m_shooterGains = ShooterConstants.SHOOTER_GAINS;
+
+  double velP;
+  /**
+   * Creates a new Shooter subsystem.
+   */
+  public Shooter() {
+    m_shooterFalcon.configFactoryDefault();
+
+    m_shooterFalcon.setNeutralMode(NeutralMode.Coast);
+
+    m_shooterFalcon.setInverted(true);
+    
+    setShooterGains();
+
+    m_shooterFalcon.configPeakOutputReverse(0, ShooterConstants.SHOOTER_TIMEOUT_MS);
+    
+    m_shooterFalcon.setSelectedSensorPosition(0, ShooterConstants.SHOOTER_PID_LOOP_IDX, ShooterConstants.SHOOTER_TIMEOUT_MS);
+    
+    int closedLoopTimeMs = 1;
+    m_shooterFalcon.configClosedLoopPeriod(0, closedLoopTimeMs, ShooterConstants.SHOOTER_TIMEOUT_MS);
+    m_shooterFalcon.configClosedLoopPeriod(1, closedLoopTimeMs, ShooterConstants.SHOOTER_TIMEOUT_MS);
+  }
+
+  @Override
+  public void periodic() {
+    // This method will be called once per scheduler run
+    SmartDashboard.putNumber("Shooter Velocity", m_shooterFalcon.getSelectedSensorVelocity()*600/ShooterConstants.ENCODER_TICKS_PER_REV);
+  }
+
+  /**
+   * Runs drum shooter motor.
+   * @param speed Speed to set the motor at
+   */
+  public void runDrumShooter(double speed) {
+    m_shooterFalcon.set(speed);
+  }
+
+  /**
+   * Configures gains for shooter PID.
+   */
+  public void setShooterGains() {
+    m_shooterFalcon.selectProfileSlot(ShooterConstants.SHOOTER_SLOT_IDX, ShooterConstants.SHOOTER_PID_LOOP_IDX);
+    m_shooterFalcon.config_kF(ShooterConstants.SHOOTER_SLOT_IDX, m_shooterGains.m_kF, ShooterConstants.SHOOTER_TIMEOUT_MS);
+    m_shooterFalcon.config_kP(ShooterConstants.SHOOTER_SLOT_IDX, m_shooterGains.m_kP, ShooterConstants.SHOOTER_TIMEOUT_MS);
+    m_shooterFalcon.config_kI(ShooterConstants.SHOOTER_SLOT_IDX, m_shooterGains.m_kI, ShooterConstants.SHOOTER_TIMEOUT_MS);
+    m_shooterFalcon.config_kD(ShooterConstants.SHOOTER_SLOT_IDX, m_shooterGains.m_kD, ShooterConstants.SHOOTER_TIMEOUT_MS);
+  }
+  /**
+   * Runs drum shooter velocity PID.
+   * @param falcon Motor to use
+   * @param targetVel Target velocity to run motor at
+   */
+  public void runDrumShooterVelocityPID(double targetVel, double actualVel) {
+    velP = actualVel/targetVel; //Percent of target
+    double runSpeed = actualVel + (12000*velP); //Ramp up equation
+    //if (runSpeed > targetVel) {runSpeed = targetVel;}
+    SmartDashboard.putNumber("shoot", actualVel);
+    runSpeed = runSpeed/targetVel; //Convert to percent
+    if (actualVel < targetVel - 1000){ //PID Based on ramp up amount
+      m_shooterFalcon.set(TalonFXControlMode.PercentOutput, runSpeed);
+    }
+    else{ //PID Based on targetVel
+      m_shooterFalcon.set(TalonFXControlMode.Velocity, targetVel); //Init PID
+    }
+  }
+}

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

@@ -0,0 +1,56 @@
+/*----------------------------------------------------------------------------*/
+/* 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 com.ctre.phoenix.motorcontrol.can.TalonSRX;
+import com.ctre.phoenix.motorcontrol.can.WPI_TalonSRX;
+import com.revrobotics.CANSparkMax;
+import com.revrobotics.SparkMax;
+import com.revrobotics.CANSparkMaxLowLevel.MotorType;
+
+import edu.wpi.first.wpilibj.DigitalInput;
+import edu.wpi.first.wpilibj2.command.SubsystemBase;
+
+import frc4388.robot.Constants.StorageConstants;
+
+public class Storage extends SubsystemBase {
+  private CANSparkMax m_storageMotor = new CANSparkMax(StorageConstants.STORAGE_CAN_ID, MotorType.kBrushless);
+  private DigitalInput[] m_beamSensors = new DigitalInput[6];
+  /**
+   * Creates a new Storage.
+   */
+  public Storage() {
+    m_beamSensors[0] = new DigitalInput(StorageConstants.BEAM_SENSOR_DIO_0);
+    m_beamSensors[1] = new DigitalInput(StorageConstants.BEAM_SENSOR_DIO_1);
+    m_beamSensors[2] = new DigitalInput(StorageConstants.BEAM_SENSOR_DIO_2);
+    m_beamSensors[3] = new DigitalInput(StorageConstants.BEAM_SENSOR_DIO_3);
+    m_beamSensors[4] = new DigitalInput(StorageConstants.BEAM_SENSOR_DIO_4);
+    m_beamSensors[5] = new DigitalInput(StorageConstants.BEAM_SENSOR_DIO_5);
+  }
+
+  @Override
+  public void periodic() {
+    // NO
+  }
+
+  /**
+   * Runs storage motor
+   * @param input the voltage to run motor at
+   */
+  public void runStorage(double input) {
+    m_storageMotor.set(input);
+    boolean beam_on = m_beamSensors[0].get();
+
+    if (beam_on) {
+      System.err.println("Beam on");
+    } else {
+      System.err.println("Beam off");
+    }
+    
+  }
+}