diff --git a/src/main/java/frc/robot/Constants.java b/src/main/java/frc/robot/Constants.java
index ac2f0b9..5d7b919 100644
--- a/src/main/java/frc/robot/Constants.java
+++ b/src/main/java/frc/robot/Constants.java
@@ -99,7 +99,7 @@ public class Ports {
   }
 
   public final class ShooterConstants {
-  // Constants for the Shooter
+    // Constants for the Shooter
     public static final Angle ANGLE_TOLERANCE = Rotations.of(0.01);
     public static final AngularVelocity ANGLE_VELOCITY_TOLERANCE = RotationsPerSecond.of(0.01);
     public static final AngularVelocity CRUISE_VELOCITY = RotationsPerSecond.of(204);
@@ -112,9 +112,14 @@ public final class ShooterConstants {
     public static final Angle MAX_ANGLE = Rotations.of(10.0);
     public static final Angle STARTING_ANGLE = Rotations.of(0.0);
     public static final Distance WHEEL_RADIUS = Meters.of(0.5);
-    public static final RotaryMechCharacteristics CONSTANTS = RotaryMechCharacteristics(OFFSET, WHEEL_RADIUS, MIN_ANGLE, MAX_ANGLE, STARTING_ANGLE);
+    public static final RotaryMechCharacteristics CONSTANTS =
+        RotaryMechCharacteristics(OFFSET, WHEEL_RADIUS, MIN_ANGLE, MAX_ANGLE, STARTING_ANGLE);
+    public static final double IDLE_SPEED_RPM = (1.0);
+    public static final double HUB_SPEED_RPM = (1.0);
+    public static final double TOWER_SPEED_RPM = (1.0);
+    public static final double DEFAULT_SPEED_RPM = (1.0);
   }
-  
+
   public static final int CANDLE_ID = 50;
 
   public class IntakeConstants {
@@ -131,6 +136,7 @@ public class IntakeConstants {
     public static final RotaryMechCharacteristics CONSTANTS =
         new RotaryMechCharacteristics(OFFSET, WHEEL_RADIUS, MIN_ANGLE, MAX_ANGLE, STARTING_ANGLE);
   }
+
   public class ClimberConstants {
     public static final Distance TOLERANCE = Inches.of(0.1);
     public static final double GEARING = (5.0 / 1.0);
@@ -139,6 +145,12 @@ public class ClimberConstants {
     public static final Distance STARTING_DISTANCE = Inches.of(0.0);
     public static final Distance DRUM_RADIUS = Inches.of(2.0);
     public static final DistanceAngleConverter CONVERTER = new DistanceAngleConverter(DRUM_RADIUS);
-    public static final LinearMechCharacteristics CHARACTERISTICS = new LinearMechCharacteristics(new Translation3d(0.0, 0.0, 0.0), MIN_DISTANCE, MAX_DISTANCE, STARTING_DISTANCE, CONVERTER);  
+    public static final LinearMechCharacteristics CHARACTERISTICS =
+        new LinearMechCharacteristics(
+            new Translation3d(0.0, 0.0, 0.0),
+            MIN_DISTANCE,
+            MAX_DISTANCE,
+            STARTING_DISTANCE,
+            CONVERTER);
   }
 }
diff --git a/src/main/java/frc/robot/subsystems/hood/hood.java b/src/main/java/frc/robot/subsystems/hood/hood.java
new file mode 100644
index 0000000..182549f
--- /dev/null
+++ b/src/main/java/frc/robot/subsystems/hood/hood.java
@@ -0,0 +1,15 @@
+package frc.robot.subsystems.hood;
+
+import edu.wpi.first.wpilibj2.command.SubsystemBase;
+import frc.lib.W8.mechanisms.linear.LinearMechanism;
+
+public class hood extends SubsystemBase {
+  private final LinearMechanism _io;
+
+  public hood(LinearMechanism io) {
+    _io = io;
+  }
+
+  @Override
+  public void periodic() {}
+}
diff --git a/src/main/java/frc/robot/subsystems/hopper/Hopper.java b/src/main/java/frc/robot/subsystems/hopper/Hopper.java
index 00f8d5f..2ba37f6 100644
--- a/src/main/java/frc/robot/subsystems/hopper/Hopper.java
+++ b/src/main/java/frc/robot/subsystems/hopper/Hopper.java
@@ -2,22 +2,20 @@
 
 import edu.wpi.first.wpilibj2.command.SubsystemBase;
 import frc.lib.W8.mechanisms.flywheel.FlywheelMechanism;
-import frc.robot.Constants;
 
 public class Hopper extends SubsystemBase {
 
-private FlywheelMechanism _io;
+  private FlywheelMechanism _io;
 
-public Hopper(FlywheelMechanism io) {
-_io = io;
-}
+  public Hopper(FlywheelMechanism io) {
+    _io = io;
+  }
 
-public void setGoal(double position) {
-  Distance positionInches = Inches.of(position);
-  _io.runPosition(HopperConstants.CONVERTER.toAngle(positionInches), PIDSlot.SLOT_0);
-}
+  public void setGoal(double position) {
+    Distance positionInches = Inches.of(position);
+    _io.runPosition(HopperConstants.CONVERTER.toAngle(positionInches), PIDSlot.SLOT_0);
+  }
 
   @Override
   public void periodic() {}
-
-}
\ No newline at end of file
+}
diff --git a/src/main/java/frc/robot/subsystems/shooter/Shooter.java b/src/main/java/frc/robot/subsystems/shooter/Shooter.java
index 9f7116b..5798a01 100644
--- a/src/main/java/frc/robot/subsystems/shooter/Shooter.java
+++ b/src/main/java/frc/robot/subsystems/shooter/Shooter.java
@@ -2,6 +2,17 @@
 
 import edu.wpi.first.wpilibj2.command.SubsystemBase;
 import frc.lib.W8.mechanisms.flywheel.FlywheelMechanism;
+import frc.robot.Constants.ShooterConstants;
+
+import static edu.wpi.first.units.Units.Inches;
+import static edu.wpi.first.units.Units.Meters;
+import static edu.wpi.first.units.Units.Rotations;
+import static edu.wpi.first.units.Units.RotationsPerSecond;
+import static edu.wpi.first.units.Units.RotationsPerSecondPerSecond;
+import static edu.wpi.first.units.Units.Second;
+import edu.wpi.first.units.Units;
+import edu.wpi.first.units.measure.AngularAcceleration;
+import edu.wpi.first.units.measure.AngularVelocity;
 
 public class Shooter extends SubsystemBase {
   private FlywheelMechanism _io;
@@ -10,6 +21,20 @@ public Shooter(FlywheelMechanism io) {
     _io = io;
   }
 
+  public enum State {
+    OFF(Units.RevolutionsPerSecond.of(0.0)), 
+    IDLE(Units.RevolutionsPerSecond.of(ShooterConstants.IDLE_SPEED_RPM/60)), 
+    SHOOT_FROM_HUB(Units.RevolutionsPerSecond.of(ShooterConstants.HUB_SPEED_RPM/60)), 
+    SHOOT_FROM_TOWER(Units.RevolutionsPerSecond.of(ShooterConstants.TOWER_SPEED_RPM/60)), 
+    SHOOT(Units.RevolutionsPerSecond.of(ShooterConstants.DEFAULT_SPEED_RPM/60)), 
+    SHOOT_ON_MOVE(Units.RevolutionsPerSecond.of(ShooterConstants.DEFAULT_SPEED_RPM/60));
+    
+    private final AngularVelocity stateVelocity;
+    State(AngularVelocity stateVelocity) {
+      this.stateVelocity = stateVelocity;
+    }
+  }
+
   @Override
   public void periodic() {}
 }