Step 3.2 and step 5

bin/main/frc/robot/shooter/ShooterSubSystem

@@ -0,0 +1,40 @@
+package frc.robot.shooter;
+
+import com.revrobotics.CANSparkMax;
+
+import frc.robot.util.scheduling.LifecycleSubsystem;
+import frc.robot.util.scheduling.SubsystemPriority;
+
+public class ShooterSubSystem extends LifecycleSubsystem{
+  private final CANSparkMax motor;
+
+  private boolean intaking = false;
+  private boolean shooting = false;
+
+  public ShooterSubSystem(CANSparkMax motor) {
+    super(SubsystemPriority.SHOOTER);
+    this.motor = motor;
+  }
+
+  @Override
+  public void robotPeriodic() {
+    if (intaking) {
+      motor.set(0.3);
+    } else if (shooting){
+      motor.set(-0.5);
+    }
+    else {
+      motor.set(0.0);
+    }
+  }
+
+  public void setIntakeMode (boolean intake) {
+    this.intaking = intake;
+  }
+
+  public void setShootingMode (boolean shoot) {
+    this.shooting = shoot;
+  }
+
+
+}

src/main/java/frc/robot/Robot.java

@@ -6,11 +6,15 @@
 
 import com.revrobotics.CANSparkLowLevel;
 import com.revrobotics.CANSparkMax;
+
+import edu.wpi.first.math.proto.Controller;
 import edu.wpi.first.wpilibj.TimedRobot;
 import edu.wpi.first.wpilibj.XboxController;
 import edu.wpi.first.wpilibj.smartdashboard.SmartDashboard;
 import edu.wpi.first.wpilibj2.command.CommandScheduler;
+import edu.wpi.first.wpilibj2.command.Commands;
 import frc.robot.Queuer.QueuerSubsystem;
+import frc.robot.shooter.ShooterSubSystem;
 import frc.robot.util.scheduling.LifecycleSubsystemManager;
 
 public class Robot extends TimedRobot {
@@ -32,6 +36,8 @@ public void robotInit() {}
 
   private CANSparkMax motor = new CANSparkMax(10, CANSparkLowLevel.MotorType.kBrushless);
   private XboxController driver = new XboxController(0);
+  private QueuerSubsystem queuer = new QueuerSubsystem(motor);
+  private ShooterSubSystem shooter = new ShooterSubSystem(motor);
   // TODO: Create an xbox controller for id 0
 
   @Override
@@ -48,15 +54,32 @@ public void robotPeriodic() {
     if (driver.getLeftTriggerAxis() > 0.5) {
       queuer.setIntakeMode(true);
     }
-
+    else if (driver.getLeftTriggerAxis() < 0.5) {
+      queuer.setIntakeMode(false);
+    }
     if (driver.getRightTriggerAxis() > 0.5) {
-      queuer.setShootingMode(true);
+      shooter.setShootingMode(true);
+    }
+    else if (driver.getRightTriggerAxis() < 0.5) {
+      shooter.setShootingMode(false);
     }
-
-
   }
 
-  private QueuerSubsystem queuer = new QueuerSubsystem(motor);
+  Controller
+      .leftTrigger()
+      .onTrue{shooter.setIntakeCommand(true)
+      .with(queuer.setIntakeCommand(true))};
+      .onFalse{shooter.setIntakeCommand(false)
+      .with(queuer.setIntakeCommand(false))};
+
+  Controller
+      .rightTrigger()
+      .onTrue{shooter.setShootingCommand(true)
+      .then(Commands.waitSeconds(1))
+      .with(queuer.setShootingCommand(true))
+      .then(Commands.waitSeconds(3))
+      .with(shooter.setShootingCommand(false))
+      .with(queuer.setShootingCommand(false))};
 
 
   @Override

src/main/java/frc/robot/shooter/ShooterSubSystem

@@ -0,0 +1,40 @@
+package frc.robot.shooter;
+
+import com.revrobotics.CANSparkMax;
+
+import frc.robot.util.scheduling.LifecycleSubsystem;
+import frc.robot.util.scheduling.SubsystemPriority;
+
+public class ShooterSubSystem extends LifecycleSubsystem{
+  private final CANSparkMax motor;
+
+  private boolean intaking = false;
+  private boolean shooting = false;
+
+  public ShooterSubSystem(CANSparkMax motor) {
+    super(SubsystemPriority.SHOOTER);
+    this.motor = motor;
+  }
+
+  @Override
+  public void robotPeriodic() {
+    if (intaking) {
+      motor.set(0.3);
+    } else if (shooting){
+      motor.set(-0.5);
+    }
+    else {
+      motor.set(0.0);
+    }
+  }
+
+  public void setIntakeMode (boolean intake) {
+    this.intaking = intake;
+  }
+
+  public void setShootingMode (boolean shoot) {
+    this.shooting = shoot;
+  }
+
+
+}

src/main/java/frc/robot/shooter/ShooterSubSystem.java

@@ -0,0 +1,29 @@
+package frc.robot.shooter;
+
+import com.revrobotics.CANSparkMax;
+
+public class ShooterSubSystem {
+
+    public static final String setIntakeCommand = null;
+    public final String setShootingCommand = null;
+
+    public ShooterSubSystem(CANSparkMax motor) {
+        //TODO Auto-generated constructor stub
+    }
+
+    public void setShootingMode(boolean b) {
+        // TODO Auto-generated method stub
+        throw new UnsupportedOperationException("Unimplemented method 'setShootingMode'");
+    }
+
+    public Object setIntakeCommand(boolean b) {
+        // TODO Auto-generated method stub
+        throw new UnsupportedOperationException("Unimplemented method 'setIntakeCommand'");
+    }
+
+    public void setShootingCommand(boolean b) {
+        // TODO Auto-generated method stub
+        throw new UnsupportedOperationException("Unimplemented method 'setShootingCommand'");
+    }
+
+}