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wpilibcExamples/src/main/cpp/examples/RapidReactCommandBot/include/subsystems/Shooter.hpp

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+// 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.
+
+#pragma once
+
+#include <functional>
+
+#include <frc/Encoder.h>
+#include <frc/controller/PIDController.h>
+#include <frc/controller/SimpleMotorFeedforward.h>
+#include <frc/motorcontrol/PWMSparkMax.h>
+#include <frc2/command/CommandPtr.h>
+#include <frc2/command/SubsystemBase.h>
+#include <units/angle.h>
+#include <units/angular_velocity.h>
+
+#include "Constants.h"
+
+class Shooter : public frc2::SubsystemBase {
+ public:
+  Shooter();
+
+  /**
+   * Returns a command to shoot the balls currently stored in the robot. Spins
+   * the shooter flywheel up to the specified setpoint, and then runs the feeder
+   * motor.
+   *
+   * @param setpointRotationsPerSecond The desired shooter velocity
+   */
+  frc2::CommandPtr ShootCommand(units::turns_per_second_t setpoint);
+
+ private:
+  frc::PWMSparkMax m_shooterMotor{ShooterConstants::kShooterMotorPort};
+  frc::PWMSparkMax m_feederMotor{ShooterConstants::kFeederMotorPort};
+
+  frc::Encoder m_shooterEncoder{ShooterConstants::kEncoderPorts[0],
+                                ShooterConstants::kEncoderPorts[1],
+                                ShooterConstants::kEncoderReversed};
+  frc::SimpleMotorFeedforward<units::radians> m_shooterFeedforward{
+      ShooterConstants::kS, ShooterConstants::kV};
+  frc::PIDController m_shooterFeedback{ShooterConstants::kP, 0.0, 0.0};
+};