Feeder

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

@@ -197,4 +197,11 @@ public static class Vision {
 
     public static final Pose2d target = new Pose2d(1, 1, new Rotation2d(Units.degreesToRadians(0)));
   }
+
+  public static class FeederConstants{
+
+    public static final int FeederMotorId = 3;
+    public static final double FeederMotorSpeed = 0.8;
+
+  }
 }

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

@@ -0,0 +1,46 @@
+// 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.DemandType;
+import com.ctre.phoenix.motorcontrol.can.TalonSRX;
+import com.fasterxml.jackson.annotation.JsonCreator.Mode;
+
+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
+  }
+}