@@ -0,0 +1,1492 @@
+package com.edinarobotics.zed.subsystems;%0A%0Aimport com.edinarobotics.utils.commands.MaintainStateCommand;%0Aimport com.edinarobotics.utils.subsystems.Subsystem1816;%0Aimport edu.wpi.first.wpilibj.CANJaguar;%0A%0Apublic class Shooter extends Subsystem1816 %7B%0A    private static final int ENCODER_TICKS_PER_REV = 180;%0A    private final double P = 1;%0A    private final double I = 0;%0A    private final double D = 0;%0A    %0A    private double velocity;%0A    private CANJaguar shooterJaguar;%0A    %0A    public Shooter(int shooterJaguarPortNumber) %7B%0A        try %7B%0A            shooterJaguar = new CANJaguar(shooterJaguarPortNumber);%0A            shooterJaguar.configEncoderCodesPerRev(ENCODER_TICKS_PER_REV);%0A            shooterJaguar.changeControlMode(CANJaguar.ControlMode.kSpeed);%0A            shooterJaguar.setPID(P, I, D);%0A        %7D%0A        catch(Exception e) %7B%0A            System.err.println(%22Failed to create shooter Jaguar.%22);%0A            e.printStackTrace();%0A        %7D%0A    %7D%0A    %0A    protected void initDefaultCommand() %7B%0A        setDefaultCommand(new MaintainStateCommand(this));%0A    %7D%0A    %0A    public void setShooterVelocity(double velocity) %7B%0A        this.velocity = velocity;%0A        update();%0A    %7D%0A    %0A    public void update() %7B%0A        try %7B%0A            if(shooterJaguar != null) %7B%0A                shooterJaguar.setX(velocity);%0A            %7D%0A        %7D%0A        catch(Exception e) %7B%0A            System.err.println(%22Failed to update shooter Jaguar.%22);%0A            e.printStackTrace();%0A        %7D%0A    %7D%0A%7D%0A

Add Shooter subsystem to the project.