Added Comments

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

@@ -30,22 +30,26 @@ public ShooterBaseCommand(ShooterBase shooter, DoubleSupplier rightTriggerAxis)
     }
     @Override
     public void initialize() {
-        // create speed entry under Shooter tab as a number sider with min = -1 and max = 1
+        // 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
+        // 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.
+        // Turns on motors if right trigger is fully pressed. else the motors turn off.
         if (rightTriggerAxis.getAsDouble() == 1.0) {
+            // Checks the speed Entry for the speed and sets the speed of motors
             shooter.setSpeed(speedEntry.getDouble(0.0));
+
+            // Enable motors, It has to be called regularly for voltage compensation to work properly
             shooter.enable();
         } else {
+            // Disable the shooters
             shooter.disable();
         }
     }

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

@@ -1,12 +1,20 @@
 package frc.robot.subsystems.shooter;
 
 public interface Shooter {
-  // Disable the shooter
+  /**
+   * Disable the speed of a motors for the shooter.
+   */
   public default void disable() {}
 
-  // Enable the shooter with the .
+  /**
+   * Enable the speed of a motors for the shooter.
+   */
   public default void enable() {}
 
-  // Set the speed of the motors.
+  /**
+   * Set the speed of motors for the shooter.
+   *
+   * @param speed The speed to set. Value should be between -1.0 and 1.0.
+   */
   public default void setSpeed(double speed) {}
 }

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

@@ -1,11 +1,12 @@
 package frc.robot.subsystems.shooter;
 
+import edu.wpi.first.wpilibj.motorcontrol.MotorController;
 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 final MotorController ShooterMotorLeft;
+    private final MotorController ShooterMotorRight;
     private double voltage;
 
     public ShooterBase() {
@@ -17,20 +18,19 @@ public ShooterBase() {
     @Override
     public void disable() {
         voltage = 0;
-        ShooterMotorLeft.stopMotor();
-        ShooterMotorRight.stopMotor();
-        //System.out.println(voltage);
+        ShooterMotorLeft.disable();
+        ShooterMotorRight.disable();
     }
 
     @Override
     public void enable() {
         ShooterMotorLeft.setVoltage(voltage);
-        System.out.println(voltage);
+        ShooterMotorRight.setVoltage(voltage);
     }
 
     @Override
+    //Sets the voltage to 5.0 times speed. the speed value is -1 1
     public void setSpeed(double speed) {
-        //Sets the voltage to 5.0 times speed. the speed value is -1 1
-        this.voltage = 5.0 * speed;
+        voltage = 5.0 * speed;
     }
 }