Create Shooter Subsystem and PID stuff

Created shooter subsystem, set up command for shooter to run, set up PID constants, set up gains method in shooter.

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

@@ -0,0 +1,57 @@
+/*----------------------------------------------------------------------------*/
+/* 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.WPI_TalonFX;
+
+import edu.wpi.first.wpilibj2.command.SubsystemBase;
+import frc4388.robot.Gains;
+import frc4388.robot.Constants.ShooterConstants;
+
+public class Shooter extends SubsystemBase {
+
+  WPI_TalonFX m_shooterFalcon = new WPI_TalonFX(ShooterConstants.SHOOTER_FALCON_ID);
+
+  public static Gains m_shooterGains = ShooterConstants.SHOOTER_GAINS;
+
+  /**
+   * Creates a new Shooter.
+   */
+  public Shooter() {
+    m_shooterFalcon.configFactoryDefault();
+
+    m_shooterFalcon.setNeutralMode(NeutralMode.Coast);
+
+    m_shooterFalcon.setInverted(false);
+  }
+
+  @Override
+  public void periodic() {
+    // This method will be called once per scheduler run
+  }
+
+  /**
+   * Runs drum shooter motor.
+   * @param speed
+   */
+  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.kF, ShooterConstants.SHOOTER_TIMEOUT_MS);
+    m_shooterFalcon.config_kP(ShooterConstants.SHOOTER_SLOT_IDX, m_shooterGains.kP, ShooterConstants.SHOOTER_TIMEOUT_MS);
+    m_shooterFalcon.config_kI(ShooterConstants.SHOOTER_SLOT_IDX, m_shooterGains.kI, ShooterConstants.SHOOTER_TIMEOUT_MS);
+    m_shooterFalcon.config_kD(ShooterConstants.SHOOTER_SLOT_IDX, m_shooterGains.kD, ShooterConstants.SHOOTER_TIMEOUT_MS);
+  }
+}