Began work on the state machine

Added states

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

@@ -12,6 +12,8 @@
 import edu.wpi.first.wpilibj.smartdashboard.SmartDashboard;
 import frc.robot.core.components.ControlSystem;
 import frc.robot.core.components.Drivetrain;
+import frc.robot.core.components.LauncherRevUp;
+import frc.robot.core.components.LauncherState;
 
 /**
  * The VM is configured to automatically run this class, and to call the
@@ -58,6 +60,8 @@ public void robotInit() {
    */
   @Override
   public void robotPeriodic() {
+    LauncherState state = new LauncherRevUp(null, null);
+    state = state.run();
   }
 
   /**

src/main/java/frc/robot/core/components/Launcher.java

@@ -1,18 +1,42 @@
 package frc.robot.core.components;
+import edu.wpi.first.wpilibj.SpeedController;
 import edu.wpi.first.wpilibj.TimedRobot;
 import edu.wpi.first.wpilibj.smartdashboard.SendableChooser;
 import edu.wpi.first.wpilibj.smartdashboard.SmartDashboard;
 import frc.robot.core.components.ControlSystem;
 import frc.robot.core.components.Drivetrain;
 
 interface launcher {
-    boolean stopMotors();
-    boolean startMotors(); 
-    double shoot(double velocity, int burst); 
-    boolean nextState; 
+    void stopMotors();
+    void startMotors(); 
+    void shoot(double velocity, int burst); 
+    void nextState(); 
+
 
-}
+class UpShoot implements launcher {
+
+    @Override
+    public void stopMotors() {
+        Upshoot.set(0);
+
+    }
+
+    @Override
+    public void startMotors() {
+       Upshoot.set(1);
+    }
+
+    @Override
+    public void shoot(double velocity, int burst) {
+
+
+
+    }
 
-class UpShoot implements launcher{
+    @Override
+    public void nextState() {
+
+
+    }
 
 }

src/main/java/frc/robot/core/components/LauncherRevUp.java

@@ -0,0 +1,25 @@
+package frc.robot.core.components;
+
+import edu.wpi.first.wpilibj.Encoder;
+import edu.wpi.first.wpilibj.SpeedController;
+
+public class LauncherRevUp implements LauncherState {
+    private final SpeedController motor;
+    private final Encoder encoder;
+
+    public LauncherRevUp(SpeedController motor, Encoder encoder){
+        this.motor = motor;
+        this.encoder = encoder;
+    }
+
+
+    @Override
+    public LauncherState run() {
+        motor.set(1);
+        if(encoder.getRate() > 10){
+            LauncherShoot state = new LauncherShoot(null);
+        }
+        return this;
+    }
+
+}

src/main/java/frc/robot/core/components/LauncherShoot.java

@@ -0,0 +1,22 @@
+package frc.robot.core.components;
+
+import edu.wpi.first.wpilibj.SpeedController;
+
+public class LauncherShoot implements LauncherState{
+    private final SpeedController motor;
+
+    public LauncherShoot(SpeedController motor, double velocity, double burst){
+        this.motor = motor;
+        motor.set(velocity);
+        try {
+            motor.wait();
+        } catch(Exception e) {
+
+         }
+        //wait until total # of balls are fired 
+    }
+
+    public LauncherState run(){
+        return this;
+    }
+}

src/main/java/frc/robot/core/components/LauncherState.java

@@ -0,0 +1,5 @@
+package frc.robot.core.components;
+
+public interface LauncherState{
+    LauncherState run();
+}