R2 88 create shooter state done!!!!!!!!1

src/main/java/frc/robot/Constants.java

@@ -103,7 +103,7 @@ public class Ports {
   }
 
   public final class ShooterConstants {
-  // Constants for the Shooter
+    // Constants for the Shooter
     public static final Angle ANGLE_TOLERANCE = Rotations.of(0.01);
     public static final AngularVelocity ANGLE_VELOCITY_TOLERANCE = RotationsPerSecond.of(0.01);
     public static final AngularVelocity CRUISE_VELOCITY = RotationsPerSecond.of(204);
@@ -116,10 +116,15 @@ public final class ShooterConstants {
     public static final Angle MAX_ANGLE = Rotations.of(10.0);
     public static final Angle STARTING_ANGLE = Rotations.of(0.0);
     public static final Distance WHEEL_RADIUS = Meters.of(0.5);
+    public static final RotaryMechCharacteristics CONSTANTS =
+        RotaryMechCharacteristics(OFFSET, WHEEL_RADIUS, MIN_ANGLE, MAX_ANGLE, STARTING_ANGLE);
+    public static final double IDLE_SPEED_RPM = (1.0);
+    public static final double HUB_SPEED_RPM = (1.0);
+    public static final double TOWER_SPEED_RPM = (1.0);
+    public static final double DEFAULT_SPEED_RPM = (1.0);
     public static final double FLYWHEEL_VELOCITY_TOLERANCE = 1.0;
-    public static final RotaryMechCharacteristics CONSTANTS = new RotaryMechCharacteristics(OFFSET, WHEEL_RADIUS, MIN_ANGLE, MAX_ANGLE, STARTING_ANGLE);
   }
-  
+
   public static final int CANDLE_ID = 50;
 
   public class IntakeConstants {
@@ -150,6 +155,12 @@ public class ClimberConstants {
     public static final Distance STARTING_DISTANCE = Inches.of(0.0);
     public static final Distance DRUM_RADIUS = Inches.of(2.0);
     public static final DistanceAngleConverter CONVERTER = new DistanceAngleConverter(DRUM_RADIUS);
-    public static final LinearMechCharacteristics CHARACTERISTICS = new LinearMechCharacteristics(new Translation3d(0.0, 0.0, 0.0), MIN_DISTANCE, MAX_DISTANCE, STARTING_DISTANCE, CONVERTER);  
+    public static final LinearMechCharacteristics CHARACTERISTICS =
+        new LinearMechCharacteristics(
+            new Translation3d(0.0, 0.0, 0.0),
+            MIN_DISTANCE,
+            MAX_DISTANCE,
+            STARTING_DISTANCE,
+            CONVERTER);
   }
 }

src/main/java/frc/robot/subsystems/hopper/Hopper.java

@@ -14,19 +14,14 @@ public class Hopper extends SubsystemBase {
   private FlywheelMechanism _io;
 
   public Hopper(FlywheelMechanism io) {
-  _io = io;
+    _io = io;
   }
 
   public void setGoal(double position) {
     Distance positionInches = Inches.of(position);
-    _io.runPosition(HopperConstants.CONVERTER.toAngle(positionInches), HopperConstants.ANGULAR_VELOCITY, HopperConstants.ANGULAR_ACCELERATION, null, PIDSlot.SLOT_0);
+    _io.runPosition(HopperConstants.CONVERTER.toAngle(positionInches), PIDSlot.SLOT_0);
   }
-
-  public void runHopper() {
-        _io.runVoltage(HopperConstants.VOLTAGE);
-    }
 
   @Override
   public void periodic() {}
-
-}
+}

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

@@ -8,6 +8,17 @@
 import edu.wpi.first.wpilibj2.command.SubsystemBase;
 import frc.lib.W8.io.motor.MotorIO.PIDSlot;
 import frc.lib.W8.mechanisms.flywheel.FlywheelMechanism;
+import frc.robot.Constants.ShooterConstants;
+
+import static edu.wpi.first.units.Units.Inches;
+import static edu.wpi.first.units.Units.Meters;
+import static edu.wpi.first.units.Units.Rotations;
+import static edu.wpi.first.units.Units.RotationsPerSecond;
+import static edu.wpi.first.units.Units.RotationsPerSecondPerSecond;
+import static edu.wpi.first.units.Units.Second;
+import edu.wpi.first.units.Units;
+import edu.wpi.first.units.measure.AngularAcceleration;
+import edu.wpi.first.units.measure.AngularVelocity;
 import frc.robot.Constants.FeederConstants;
 import frc.robot.Constants.ShooterConstants;
 
@@ -36,6 +47,20 @@ public void setFlywheelVelocity(double velocity) {
     _flywheel.runVelocity(angVelo, ShooterConstants.ACCELERATION, PIDSlot.SLOT_0);
   }
 
+  public enum State {
+    OFF(Units.RevolutionsPerSecond.of(0.0)), 
+    IDLE(Units.RevolutionsPerSecond.of(ShooterConstants.IDLE_SPEED_RPM/60)), 
+    SHOOT_FROM_HUB(Units.RevolutionsPerSecond.of(ShooterConstants.HUB_SPEED_RPM/60)), 
+    SHOOT_FROM_TOWER(Units.RevolutionsPerSecond.of(ShooterConstants.TOWER_SPEED_RPM/60)), 
+    SHOOT(Units.RevolutionsPerSecond.of(ShooterConstants.DEFAULT_SPEED_RPM/60)), 
+    SHOOT_ON_MOVE(Units.RevolutionsPerSecond.of(ShooterConstants.DEFAULT_SPEED_RPM/60));
+
+    private final AngularVelocity stateVelocity;
+    State(AngularVelocity stateVelocity) {
+      this.stateVelocity = stateVelocity;
+    }
+  }
+
   // Checks if the flywheel is at speed and returns a boolean
   public boolean flyAtVelocity() {
     return Math.abs(desiredVelo - _flywheel.getVelocity().in(RotationsPerSecond))