Feeder

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

@@ -304,4 +304,10 @@ public static class CollectingConstants{
         public static final int SwitchID=1;
         public static final int CollectingMotorID=10;
     }
+  public static class FeederConstants{
+
+    public static final int FeederMotorId = 3;
+    public static final double FeederMotorSpeed = 0.8;
+
+  }
 }

src/main/java/frc/robot/commands/CollectingCommands/setSpeedUntilFeedCommand.java

@@ -5,7 +5,6 @@
 package frc.robot.commands.CollectingCommands;
 
 import edu.wpi.first.wpilibj2.command.Command;
-import frc.robot.Constants.CollectingConstants;
 import frc.robot.subsystems.CollectingSubsystem;
 
 public class setSpeedUntilFeedCommand extends Command {

src/main/java/frc/robot/commands/feederCommands/FeedShooter.java

@@ -0,0 +1,30 @@
+// Copyright (c) FIRST and other WPILib contributors.
+// Open Source Software; you can modify and/or share it under the terms of
+// the WPILib BSD license file in the root directory of this project.
+
+package frc.robot.commands.feederCommands;
+
+import edu.wpi.first.wpilibj2.command.InstantCommand;
+
+import frc.robot.subsystems.FeederSubsystem;
+
+import frc.robot.Constants.FeederConstants;;
+
+public class FeedShooter extends InstantCommand {
+
+  // feeder subsystem
+  private FeederSubsystem feeder = FeederSubsystem.getInstance();
+
+  // constructor
+  public FeedShooter() {
+    addRequirements(feeder);
+  }
+
+  // Called when the command is initially scheduled.
+  @Override
+  public void initialize() {
+    // set speed to motor
+    feeder.setSpeed(FeederConstants.FeederMotorSpeed);
+
+  }
+}

src/main/java/frc/robot/commands/feederCommands/FeederSetSpeed.java

@@ -0,0 +1,27 @@
+// Copyright (c) FIRST and other WPILib contributors.
+// Open Source Software; you can modify and/or share it under the terms of
+// the WPILib BSD license file in the root directory of this project.
+
+package frc.robot.commands.feederCommands;
+
+import edu.wpi.first.wpilibj2.command.InstantCommand;
+import frc.robot.subsystems.FeederSubsystem;
+
+public class FeederSetSpeed extends InstantCommand {
+  // variables
+  private FeederSubsystem feeder = FeederSubsystem.getInstance();// feeder subsystem
+  double speed;
+
+  // constructor
+  public FeederSetSpeed(double speed) {
+    addRequirements(feeder);
+    this.speed = speed;
+  }
+
+  // Called when the command is initially scheduled.
+  @Override
+  public void initialize() {
+    // set speed to motor
+    feeder.setSpeed(speed);
+  }
+}

src/main/java/frc/robot/subsystems/CollectingSubsystem.java

@@ -6,8 +6,6 @@
 
 import com.ctre.phoenix.motorcontrol.ControlMode;
 import com.ctre.phoenix.motorcontrol.can.TalonSRX;
-import com.ctre.phoenix6.hardware.TalonFX;
-
 import edu.wpi.first.wpilibj.DigitalInput;
 import edu.wpi.first.wpilibj2.command.SubsystemBase;
 

src/main/java/frc/robot/subsystems/FeederSubsystem.java

@@ -0,0 +1,43 @@
+// Copyright (c) FIRST and other WPILib contributors.
+// Open Source Software; you can modify and/or share it under the terms of
+// the WPILib BSD license file in the root directory of this project.
+
+package frc.robot.subsystems;
+
+import com.ctre.phoenix.motorcontrol.ControlMode;
+import com.ctre.phoenix.motorcontrol.can.TalonSRX;
+import edu.wpi.first.wpilibj2.command.SubsystemBase;
+
+import static frc.robot.Constants.FeederConstants.*;
+
+public class FeederSubsystem extends SubsystemBase {
+  /** Creates a new FeederSubsystem. */
+
+  //the feeder's motor
+  TalonSRX m_Feeder;
+
+  //constructor
+  private FeederSubsystem(){
+    m_Feeder = new TalonSRX(FeederMotorId);
+  }
+
+  // singelton
+  private static FeederSubsystem instance;
+
+  public static FeederSubsystem getInstance() {
+    if (instance == null) {
+        instance = new FeederSubsystem();  
+    }
+    return instance;
+  } 
+
+  // set speed function
+  public void setSpeed(double motorSpeed){
+    m_Feeder.set(ControlMode.PercentOutput, motorSpeed);
+  }
+
+  @Override
+  public void periodic() {
+    // This method will be called once per scheduler run
+  }
+}