Created ShooterBase subsystem and command using right trigger

src/main/java/frc/robot/RobotContainer.java

@@ -4,15 +4,37 @@
 
 package frc.robot;
 
+import edu.wpi.first.wpilibj.XboxController;
 import edu.wpi.first.wpilibj2.command.Command;
 import edu.wpi.first.wpilibj2.command.Commands;
+import frc.robot.commands.ShooterBaseCommand;
+import frc.robot.subsystems.shooter.ShooterBase;
 
 public class RobotContainer {
+  public final XboxController controller;
+  public final ShooterBase shooter;
+
   public RobotContainer() {
+    controller = new XboxController(0);
+
+    boolean swerveBot = false;
+    boolean tankBot = false;
+
+    if (swerveBot) {
+      shooter = null;
+    } else if (tankBot) {
+      shooter = null;
+    } else {
+      shooter = new ShooterBase();
+    }
+
+
     configureBindings();
   }
 
-  private void configureBindings() {}
+  private void configureBindings() {
+    shooter.setDefaultCommand(new ShooterBaseCommand(shooter, () -> controller.getRightTriggerAxis() ));
+  }
 
   public Command getAutonomousCommand() {
     return Commands.print("No autonomous command configured");

src/main/java/frc/robot/commands/ShooterBaseCommand.java

@@ -0,0 +1,52 @@
+package frc.robot.commands;
+
+
+
+import java.util.Map;
+import java.util.function.DoubleSupplier;
+
+import edu.wpi.first.networktables.GenericEntry;
+import edu.wpi.first.wpilibj.shuffleboard.BuiltInWidgets;
+import edu.wpi.first.wpilibj.shuffleboard.Shuffleboard;
+import edu.wpi.first.wpilibj.shuffleboard.ShuffleboardTab;
+
+import edu.wpi.first.wpilibj2.command.Command;
+import frc.robot.subsystems.shooter.ShooterBase;
+
+public class ShooterBaseCommand extends Command {
+    ShooterBase shooter;
+    DoubleSupplier rightTriggerAxis;
+    ShuffleboardTab tab;
+    GenericEntry speedEntry;
+
+    public ShooterBaseCommand(ShooterBase shooter, DoubleSupplier rightTriggerAxis) {
+        this.shooter = shooter;
+        this.rightTriggerAxis = rightTriggerAxis;
+
+        //create shooter tab on ShuffleBoard
+        tab = Shuffleboard.getTab("Shooter");
+
+        addRequirements(shooter);
+    }
+    @Override
+    public void initialize() {
+        // create speed entry under Shooter tab as a number sider with min = -1 and max = 1
+        speedEntry = tab.add("speed", 0).withWidget(BuiltInWidgets.kNumberSlider)
+        .withProperties(Map.of("min", -1, "max", 1)).getEntry();
+
+        //sets default value to 0.0
+        speedEntry.setValue(0.0);
+    }
+
+
+    @Override
+    public void execute() {
+        //turns on motors if right trigger is fully pressed. else the motors turn off.
+        if (rightTriggerAxis.getAsDouble() == 1.0) {
+            shooter.setSpeed(speedEntry.getDouble(0.0));
+            shooter.enable();
+        } else {
+            shooter.disable();
+        }
+    }
+}

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

@@ -0,0 +1,12 @@
+package frc.robot.subsystems.shooter;
+
+public interface Shooter {
+  // Disable the shooter
+  public default void disable() {}
+
+  // Enable the shooter with the .
+  public default void enable() {}
+
+  // Set the speed of the motors.
+  public default void setSpeed(double speed) {}
+}

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

@@ -0,0 +1,36 @@
+package frc.robot.subsystems.shooter;
+
+import edu.wpi.first.wpilibj.motorcontrol.Spark;
+import edu.wpi.first.wpilibj2.command.SubsystemBase;
+
+public class ShooterBase extends SubsystemBase implements Shooter {
+    private final Spark ShooterMotorLeft;
+    private final Spark ShooterMotorRight;
+    private double voltage;
+
+    public ShooterBase() {
+        ShooterMotorLeft = new Spark(0);
+        ShooterMotorRight = new Spark(1);
+        voltage = 0;
+    }
+
+    @Override
+    public void disable() {
+        voltage = 0;
+        ShooterMotorLeft.stopMotor();
+        ShooterMotorRight.stopMotor();
+        //System.out.println(voltage);
+    }
+
+    @Override
+    public void enable() {
+        ShooterMotorLeft.setVoltage(voltage);
+        System.out.println(voltage);
+    }
+
+    @Override
+    public void setSpeed(double speed) {
+        //Sets the voltage to 5.0 times speed. the speed value is -1 1
+        this.voltage = 5.0 * speed;
+    }
+}