Shooter code (Elsa wrote)

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

@@ -0,0 +1,26 @@
+package frc.robot.subsystems.shooter;
+
+import edu.wpi.first.wpilibj2.command.SubsystemBase;
+
+public class Shooter extends SubsystemBase {
+  private ShooterIO io;
+  private ShooterIOInputsAutoLogged inputs = new ShooterIOInputsAutoLogged();
+
+  private static Shooter instance;
+
+  public static Shooter getInstance() {
+    return instance;
+  }
+
+  public static Shooter initialize(ShooterIO io) {
+    if (instance == null) {
+      instance = new Shooter(io);
+    }
+    return instance;
+  }
+
+  private Shooter(ShooterIO shooterIO) {
+    io = shooterIO;
+    io.updateInputs(inputs);
+  }
+}

src/main/java/frc/robot/subsystems/shooter/ShooterIO.java

@@ -0,0 +1,20 @@
+package frc.robot.subsystems.shooter;
+
+import org.littletonrobotics.junction.AutoLog;
+
+import frc.robot.subsystems.shooter.ShooterIO.ShooterIOInputs;
+
+public interface ShooterIO {
+    @AutoLog
+    public static class ShooterIOInputs{
+        public double leftMotorVelocity = 0.0;
+        public double rightMotorVelocity = 0.0;
+    }
+
+    public default void spinForwards() {}
+
+    public default void spinBackwards() {}
+
+    public default void updateInputs(ShooterIOInputs inputs) {}
+
+}

src/main/java/frc/robot/subsystems/shooter/ShooterIOReal.java

@@ -0,0 +1,42 @@
+package frc.robot.subsystems.shooter;
+
+import com.revrobotics.CANSparkFlex;
+import com.revrobotics.CANSparkLowLevel.MotorType;
+import com.revrobotics.RelativeEncoder;
+
+public class ShooterIOReal implements ShooterIO {
+    private CANSparkFlex leftShooterMotor = new CANSparkFlex(0, MotorType.kBrushless); // Can IDs not accurate
+    private CANSparkFlex rightShooterMotor = new CANSparkFlex(1, MotorType.kBrushless); // Can IDs not accurate
+    private RelativeEncoder leftShooterEncoder = leftShooterMotor.getEncoder();
+    private RelativeEncoder rightShooterEncoder = rightShooterMotor.getEncoder();
+
+
+    public ShooterIOReal() {
+        rightShooterMotor.follow(leftShooterMotor, true);
+
+        rightShooterMotor.burnFlash();
+        leftShooterMotor.burnFlash();
+    }
+
+    public void spinForwards() {
+        leftShooterMotor.set(1.0);
+    }
+
+    public void spinBackwards() {
+        leftShooterMotor.set(-1.0);
+    }
+
+    public double getLeftvelocity() {
+        return leftShooterEncoder.getVelocity();
+    }
+
+    public double getRightvelocity() {
+        return rightShooterEncoder.getVelocity();
+    }
+
+    @Override
+    public void updateInputs(ShooterIOInputs inputs) {
+        inputs.leftMotorVelocity = getLeftvelocity();
+        inputs.rightMotorVelocity = getRightvelocity();
+    }
+}

src/main/java/frc/robot/subsystems/shooter/ShooterIOSim.java

@@ -0,0 +1,3 @@
+package frc.robot.subsystems.shooter;
+
+public class ShooterIOSim {}