From 4105d15a535d77995ca54739da4f1af3f6b9b593 Mon Sep 17 00:00:00 2001
From: TheRealGrayden <nmunier65@gmail.com>
Date: Sat, 7 Mar 2026 13:38:19 -0500
Subject: [PATCH] Shooter Subsystem

---
 src/main/java/frc/robot/Constants.java        |  6 ++++++
 .../frc/robot/subsystems/HopperSubsystem.java | 19 +++++++------------
 2 files changed, 13 insertions(+), 12 deletions(-)

diff --git a/src/main/java/frc/robot/Constants.java b/src/main/java/frc/robot/Constants.java
index 5f89a34..6e89275 100644
--- a/src/main/java/frc/robot/Constants.java
+++ b/src/main/java/frc/robot/Constants.java
@@ -7,6 +7,7 @@ package frc.robot;
 import edu.wpi.first.math.util.Units;
 import edu.wpi.first.units.Unit;
 import edu.wpi.first.units.measure.Angle;
+import java.security.PublicKey;
 
 /**
  * The Constants class provides a convenient place for teams to hold robot-wide numerical or boolean
@@ -82,4 +83,9 @@ public final class Constants {
     public static final Angle LIMIT_ELEVATION_POS = edu.wpi.first.units.Units.Degrees.of(90);
     public static final Angle LIMIT_ELEVATION_NEG = edu.wpi.first.units.Units.Degrees.of(0);
   }
+  
+  public static class HopperConstants {
+    public static final int KICKER_MOTOR_ID = 0;
+    public static final int SPINDEXER_MOTOR_ID = 1;    
+  }
 }
diff --git a/src/main/java/frc/robot/subsystems/HopperSubsystem.java b/src/main/java/frc/robot/subsystems/HopperSubsystem.java
index bd36015..8dfe649 100644
--- a/src/main/java/frc/robot/subsystems/HopperSubsystem.java
+++ b/src/main/java/frc/robot/subsystems/HopperSubsystem.java
@@ -10,7 +10,7 @@ import org.fairportrobotics.frc.posty.test.PostTest;
 import com.ctre.phoenix6.hardware.TalonFX;
 
 import static org.fairportrobotics.frc.posty.assertions.Assertions.*;
-
+import frc.robot.Constants;
 import edu.wpi.first.wpilibj2.command.Command;
 
 public class HopperSubsystem extends TestableSubsystem {
@@ -19,28 +19,23 @@ public class HopperSubsystem extends TestableSubsystem {
     private TalonFX kickerMotor;
   /** Creates a new HopperSubsystem. */
   public HopperSubsystem() {
-    spindexerMotor = new TalonFX(0);
-    kickerMotor = new TalonFX(1);
+    spindexerMotor = new TalonFX(Constants.HopperConstants.SPINDEXER_MOTOR_ID);
+    kickerMotor = new TalonFX(Constants.HopperConstants.KICKER_MOTOR_ID);
   } 
 
-  public void feed(){
-
+  public void feed() {
     kickerMotor.set(0.5);
   }
 
-  public void reverse(){
-
+  public void reverse() {
     kickerMotor.set(-0.5);
-
   } 
 
-  public void stop(){
-
+  public void stop() {
     kickerMotor.set(0);
   }
 
-  public void spin(double speed){
-
+  public void spin(double speed) {
     spindexerMotor.set(speed);
   }