E

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

@@ -44,4 +44,14 @@ public final class Constants {
         public static final int HORN_SOLENOID_ID = 0;
         //Todo: Change ID with new id on the robot
     }
+    public static final class ShooterConstants {
+        public static final int SHOOTER_SOLENOID_0_ID = 1;
+        public static final int SHOOTER_SOLENOID_1_ID = 2;
+        public static final int SHOOTER_SOLENOID_2_ID = 3;
+        public static final int SHOOTER_SOLENOID_3_ID = 4;
+        public static final int SHOOTER_SOLENOID_4_ID = 5;
+        public static final int SHOOTER_SOLENOID_5_ID = 6;
+        public static final int SHOOTER_SOLENOID_6_ID = 7;
+        public static final int SHOOTER_SOLENOID_7_ID = 8;
+    }
 }

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

@@ -43,6 +43,16 @@ public class RobotContainer {
     private final XboxController m_driverXbox = new XboxController(OIConstants.XBOX_DRIVER_ID);
     private final XboxController m_operatorXbox = new XboxController(OIConstants.XBOX_OPERATOR_ID);
 
+    private final Solenoid[] tubes = {
+        m_robotMap.ShooterSolenoid0, 
+        m_robotMap.ShooterSolenoid1,
+        m_robotMap.ShooterSolenoid2,
+        m_robotMap.ShooterSolenoid3,
+        m_robotMap.ShooterSolenoid4,
+        m_robotMap.ShooterSolenoid5,
+        m_robotMap.ShooterSolenoid6,
+        m_robotMap.ShooterSolenoid7};
+
     /**
      * The container for the robot. Contains subsystems, OI devices, and commands.
      */
@@ -67,19 +77,27 @@ public class RobotContainer {
     private void configureButtonBindings() {
         /* Driver Buttons */
         // test command to spin the robot while pressing A on the driver controller
-        new JoystickButton(getDriverJoystick(), XboxController.A_BUTTON)
+        /*new JoystickButton(getDriverJoystick(), XboxController.A_BUTTON)
                 .whileHeld(() -> m_robotDrive.driveWithInput(0, 1));
-
+        */
         /* Operator Buttons */
-        // activates "Lit Mode"
+        // activates ""🔥👌💯" Mode"™⁋
+        /*
         new JoystickButton(getOperatorJoystick(), XboxController.A_BUTTON)
                 .whenPressed(() -> m_robotLED.setPattern(LEDPatterns.LAVA_RAINBOW))
                 .whenReleased(() -> m_robotLED.setPattern(LEDConstants.DEFAULT_PATTERN));
-
+        */
-        // BWAHHHHHHHHHHHH
+        // Fire horn
-        new JoystickButton(getOperatorJoystick(), XboxController.RIGHT_TRIGGER_AXIS)
+        new JoystickButton(getOperatorJoystick(), XboxController.LEFT_TRIGGER_AXIS)
                 .whenPressed(() -> m_robotHorn.hornSet(true))
                 .whenReleased(() -> m_robotHorn.hornSet(false));
+        
+        new JoystickButton(getOperatorJoystick(), XboxController.RIGHT_TRIGGER_AXIS)
+                .whenPressed(() -> new ShootYourShot(true)) /*Fire one per once triger*/
+                .whenReleased(() -> new ShootYourShot(false));
+        
+        
+        
     }
 
     /**

src/main/java/frc4388/robot/RobotMap.java

@@ -70,6 +70,16 @@ public class RobotMap {
         leftBackMotor.setInverted(InvertType.FollowMaster);
         rightBackMotor.setInverted(InvertType.FollowMaster);
     }
-
+    /* Horn subsystem */
     public final Solenoid HornSolenoid =  new Solenoid(HornConstants.HORN_SOLENOID_ID);
+
+    /* Shooter subsystem */
+    public final Solenoid ShooterSolenoid0 = new Solenoid(ShooterConstants.SHOOTER_SOLENOID_0_ID);
+    public final Solenoid ShooterSolenoid1 = new Solenoid(ShooterConstants.SHOOTER_SOLENOID_1_ID);
+    public final Solenoid ShooterSolenoid2 = new Solenoid(ShooterConstants.SHOOTER_SOLENOID_2_ID);
+    public final Solenoid ShooterSolenoid3 = new Solenoid(ShooterConstants.SHOOTER_SOLENOID_3_ID);
+    public final Solenoid ShooterSolenoid4 = new Solenoid(ShooterConstants.SHOOTER_SOLENOID_4_ID);
+    public final Solenoid ShooterSolenoid5 = new Solenoid(ShooterConstants.SHOOTER_SOLENOID_5_ID);
+    public final Solenoid ShooterSolenoid6 = new Solenoid(ShooterConstants.SHOOTER_SOLENOID_6_ID);
+    public final Solenoid ShooterSolenoid7 = new Solenoid(ShooterConstants.SHOOTER_SOLENOID_7_ID);    
 }

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

@@ -0,0 +1,41 @@
+// 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.commands;
+
+import edu.wpi.first.wpilibj2.command.CommandBase;
+
+public class ShootYourShot extends CommandBase {
+  private Solenoid[] m_solenoids = {};
+  private int counter;
+
+  /** Creates a new ShootYourShot
+   *. */
+  public ShootYourShot(Solenoid[] solenoids) {
+    m_solenoids = solenoids;
+    counter = 0;
+  }
+
+  // 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() {
+    ShootTube.ShootTubeSet(m_solenoids[counter]);
+  }
+
+  // Called once the command ends or is interrupted.
+  @Override
+  public void end(boolean interrupted) {
+    counter += 1;
+  }
+
+  // Returns true when the command should end.
+  @Override
+  public boolean isFinished() {
+    return false;
+  }
+}

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

@@ -10,12 +10,13 @@ import edu.wpi.first.wbilib.Solnoid;
 
 public class ShootTube extends SubsystemBase {
   /** Creates a new ShootTube. */
-  public ShootTube() {
+  Solenoid m_solenoids;
-    m_solenoid = new solenoid(0);
+  public ShootTube(Solenoid[] solenoids) {
+    m_solenoids = solenoids;
   }
 
-  public void ShootTubeset(boolean arg) {
+  public void ShootTubeSet(boolean arg, Solenoid tube) {
-    m_solenoid.set(arg);
+    tube.set(arg);
   }
 
   @Override