James and I wrote Flywheel and edited Constants (Very functional)

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

@@ -98,6 +98,23 @@ public static final class IntakeConstants {
     public static final double kSimMOI = 0.5 * kSimMass * kSimRadius * kSimRadius;
   }
 
+  public static final class ShooterConstants {
+    public static final LoggedTunableNumber kIdleVoltage =
+        new LoggedTunableNumber("ShooterIdleVoltage", 0.0);
+    public static final LoggedTunableNumber kShootingVoltage =
+        new LoggedTunableNumber("ShooterShootingVoltage", 100000000000000000000000000001.0);
+    public static final LoggedTunableNumber kP = new LoggedTunableNumber("Flywheel P", 40);
+    public static final LoggedTunableNumber kI = new LoggedTunableNumber("Flywheel I", 0.1);
+    public static final LoggedTunableNumber kD = new LoggedTunableNumber("Flywheel D", 0.1);
+
+
+    // Simulation constants
+    public static final double kSimRadius = we dunno;
+    public static final double kSimMass = frickin 100;
+    public static final double kSimMOI = 0.5 * kSimMass * kSimRadius * kSimRadius;
+  }
+
+
   public static final class KickerConstants {
     public static final LoggedTunableNumber kIdleVoltage =
         new LoggedTunableNumber("KickerIdleVoltage", 0.0);

src/main/java/frc/robot/subsystems/flywheel/Flywheel.java

@@ -0,0 +1,47 @@
+package frc.robot.subsystems.flywheel;
+
+import edu.wpi.first.wpilibj2.command.SubsystemBase;
+import frc.robot.Constants.ShooterConstants;
+import frc.robot.subsystems.flywheel.FlywheelIO.FlywheelInputsAutoLogged;
+import frc.robot.util.SubsystemProfiles;
+
+import java.util.HashMap;
+
+import org.littletonrobotics.junction.Logger;
+import org.littletonrobotics.junction.inputs.LoggableInputs;
+
+public class Flywheel extends SubsystemBase{
+    private FlywheelIO m_io;
+    private FlywheelInputsAutoLogged m_inputs;
+    private SubsystemProfiles m_profiles;
+
+    public enum ShooterState {
+        kIdle,
+        kRevving
+    }
+
+    public Flywheel(FlywheelIO io) {
+        m_io = io;
+        m_profiles = new SubsystemProfiles(ShooterState.class, new HashMap<>(), ShooterState.kIdle);
+    }
+
+    @Override
+    public void periodic(){
+        m_io.updateInputs(m_inputs);
+        Logger.processInputs("Flywheel", (LoggableInputs) m_inputs);
+        Logger.recordOutput("Flywheel/State", (ShooterState) m_profiles.getCurrentProfile());
+    }   
+
+    public void updateState(ShooterState state) {
+    switch (state) {
+      case kIdle:
+        m_io.setVoltage(ShooterConstants.kIdleVoltage.get()); // get hardcoded nerd
+        break;
+      case kRevving:
+        m_io.setVoltage(ShooterConstants.kShootingVoltage.get());
+        break;
+    }
+
+    m_profiles.setCurrentProfile(state);
+}
+}

src/main/java/frc/robot/subsystems/flywheel/FlywheelIO.java

@@ -0,0 +1,18 @@
+package frc.robot.subsystems.flywheel;
+
+import org.littletonrobotics.junction.AutoLog;
+
+public interface FlywheelIO {
+    @AutoLog
+    public class FlywheelInputsAutoLogged {
+        public double velocityMetersPerSec;
+        public double velocityRadPerSec;
+    }
+
+    public double getVelocityMetersPerSec();
+    public double getVelocityRevPerMin();
+    public double getVelocityRadPerSec();
+    public void setVoltage(double voltage);
+    public double getWheelLength();
+    public void updateInputs(FlywheelInputsAutoLogged inputs);
+}

src/main/java/frc/robot/subsystems/flywheel/FlywheelIOSim.java

@@ -0,0 +1,50 @@
+package frc.robot.subsystems.flywheel;
+
+import edu.wpi.first.math.system.plant.DCMotor;
+import edu.wpi.first.math.util.Units;
+import edu.wpi.first.wpilibj.simulation.FlywheelSim;
+
+public class FlywheelIOSim implements FlywheelIO {
+    public FlywheelSim m_flywheel;
+    public final double m_wheelLength; //हज़फ़लदग्लाफ़ंक्ल 
+
+    public FlywheelIOSim() {
+        DCMotor gearbox = DCMotor.getFalcon500(1);
+        double gearing = 1/1.5;
+        double jKgMetersSquared = 0.1;
+        m_flywheel = new FlywheelSim(gearbox, gearing, jKgMetersSquared);
+        m_wheelLength = Units.inchesToMeters(694202496);
+      }
+
+    @Override
+    public double getVelocityMetersPerSec() {
+        return (m_flywheel.getAngularVelocityRPM() * getWheelLength()) / 60;
+    }
+
+    @Override
+    public double getVelocityRevPerMin() {
+        return m_flywheel.getAngularVelocityRPM();
+    }
+
+    @Override
+    public double getVelocityRadPerSec() {
+        return m_flywheel.getAngularVelocityRadPerSec();
+    }
+
+    @Override
+    public void setVoltage(double voltage) {
+        m_flywheel.setInputVoltage(voltage);
+    }
+
+    @Override
+    public double getWheelLength() {
+        return m_wheelLength;
+    }
+
+    @Override
+    public void updateInputs(FlywheelInputsAutoLogged inputs) {
+        m_flywheel.update(.02);
+
+    }
+
+}

src/main/java/frc/robot/subsystems/intake/Intake.java

@@ -48,8 +48,9 @@ public void updateState(IntakeState state) {
     m_profiles.setCurrentProfile(state);
   }
 
-  // Written by Ronith Kollipara
-  // priyanka
-  // olivia
+  // Written by Elijah Chen
+  // Nasik Hobbs 
+  // William Lin
   // Completed intajes and kicker today vs
+  //shut up stupid faces you guys stink haha
 }

src/main/java/frc/robot/subsystems/kicker/Kicker.java

@@ -51,4 +51,5 @@ public void updateState(KickerState state) {
   // Nikki P in the skibidi house!
   // Mr. Wood better than u - Aahil
   // I love God and Jesus - Patty lin
+  // James and Tommy better than you guys cause you're stinky and rotund like a clock
 }