diff --git a/src/main/java/frc/robot/commands/ShooterMotorCommand.java b/src/main/java/frc/robot/commands/ShooterMotorCommand.java
new file mode 100644
index 0000000..2b179eb
--- /dev/null
+++ b/src/main/java/frc/robot/commands/ShooterMotorCommand.java
@@ -0,0 +1,44 @@
+/*----------------------------------------------------------------------------*/
+/* Copyright (c) 2018-2019 FIRST. All Rights Reserved.                        */
+/* Open Source Software - may be modified and shared by FRC teams. The code   */
+/* must be accompanied by the FIRST BSD license file in the root directory of */
+/* the project.                                                               */
+/*----------------------------------------------------------------------------*/
+
+package frc.robot.commands;
+
+import edu.wpi.first.wpilibj2.command.CommandBase;
+import frc.robot.subsystems.ShooterSubsystem;
+
+/**
+ * Add your docs here.
+ */
+public class ShooterMotorCommand extends CommandBase{
+    private final ShooterSubsystem m_shooterSubsystem;
+
+    public ShooterMotorCommand(ShooterSubsystem shooterSubsystem) {
+        m_shooterSubsystem = shooterSubsystem;
+        addRequirements(shooterSubsystem);
+    }
+    // Called when the command is initially scheduled.
+  @Override
+  public void initialize() {
+    m_shooterSubsystem.m_toggle();
+  }
+
+  // Called every time the scheduler runs while the command is scheduled.
+  @Override
+  public void execute() {
+  }
+
+  // Called once the command ends or is interrupted.
+  @Override
+  public void end(boolean interrupted) {
+  }
+
+  // Returns true when the command should end.
+  @Override
+  public boolean isFinished() {
+    return true;
+  }
+}
diff --git a/src/main/java/frc/robot/commands/ShooterSolenoidCommand.java b/src/main/java/frc/robot/commands/ShooterSolenoidCommand.java
new file mode 100644
index 0000000..b24d9dd
--- /dev/null
+++ b/src/main/java/frc/robot/commands/ShooterSolenoidCommand.java
@@ -0,0 +1,46 @@
+/*----------------------------------------------------------------------------*/
+/* Copyright (c) 2018-2019 FIRST. All Rights Reserved.                        */
+/* Open Source Software - may be modified and shared by FRC teams. The code   */
+/* must be accompanied by the FIRST BSD license file in the root directory of */
+/* the project.                                                               */
+/*----------------------------------------------------------------------------*/
+
+package frc.robot.commands;
+
+import edu.wpi.first.wpilibj2.command.CommandBase;
+import frc.robot.subsystems.ShooterSubsystem;
+
+/**
+ * Add your docs here.
+ */
+public class ShooterSolenoidCommand extends CommandBase {
+    private final ShooterSubsystem s_shooterSubsystem;
+
+    public ShooterSolenoidCommand(ShooterSubsystem subsystem) {
+        s_shooterSubsystem = subsystem;
+        // Use addRequirements() here to declare subsystem dependencies.
+        addRequirements(subsystem);
+      }
+    
+      // Called when the command is initially scheduled.
+      @Override
+      public void initialize() {
+        s_shooterSubsystem.toggleSolenoidState();
+      }
+    
+      // Called every time the scheduler runs while the command is scheduled.
+      @Override
+      public void execute() {
+      }
+    
+      // Called once the command ends or is interrupted.
+      @Override
+      public void end(boolean interrupted) {
+      }
+    
+      // Returns true when the command should end.
+      @Override
+      public boolean isFinished() {
+        return true;
+      }
+}
diff --git a/src/main/java/frc/robot/subsystems/ShooterSubsystem.java b/src/main/java/frc/robot/subsystems/ShooterSubsystem.java
new file mode 100644
index 0000000..81b79cb
--- /dev/null
+++ b/src/main/java/frc/robot/subsystems/ShooterSubsystem.java
@@ -0,0 +1,152 @@
+/*----------------------------------------------------------------------------*/
+/* Copyright (c) 2018-2019 FIRST. All Rights Reserved.                        */
+/* Open Source Software - may be modified and shared by FRC teams. The code   */
+/* must be accompanied by the FIRST BSD license file in the root directory of */
+/* the project.                                                               */
+/*----------------------------------------------------------------------------*/
+
+package frc.robot.subsystems;
+
+import com.revrobotics.CANEncoder;
+import com.revrobotics.CANPIDController;
+import com.revrobotics.CANSparkMax;
+import com.revrobotics.ControlType;
+import com.revrobotics.CANSparkMax.IdleMode;
+import com.revrobotics.CANSparkMaxLowLevel.MotorType;
+import java.util.logging.*;
+
+import edu.wpi.first.wpilibj.DoubleSolenoid;
+import edu.wpi.first.wpilibj.smartdashboard.SmartDashboard;
+import edu.wpi.first.wpilibj2.command.SubsystemBase;
+import frc.robot.Constants;
+
+/**
+ * Add your docs here.
+ */
+public class ShooterSubsystem extends SubsystemBase{
+    private static CANSparkMax mShoot;
+    private CANPIDController pidController;
+    private CANEncoder encoder;
+    public double kP, kI, kD, kIz, kFF, kMaxOutput, kMinOutput;
+    private DoubleSolenoid solenoid; 
+    private static final Logger LOGGER = Logger.getLogger(DriveSubsystem.class.getName());
+    private double m_setpoint = 0;
+
+
+
+
+    public ShooterSubsystem() {
+        mShoot = new CANSparkMax(1, MotorType.kBrushless);
+        mShoot.restoreFactoryDefaults();
+        mShoot.enableVoltageCompensation(12);
+        mShoot.setIdleMode(IdleMode.kBrake);
+
+        pidController = mShoot.getPIDController();
+        encoder = mShoot.getEncoder();
+
+        kP = 0.00010; 
+        kI = 0;
+        kD = .0000; 
+        kIz = 0; 
+        kFF = 0.000175; 
+        kMaxOutput = 1; 
+        kMinOutput = -1;
+
+        pidController.setP(kP);
+        pidController.setI(kI);
+        pidController.setD(kD);
+        pidController.setIZone(kIz);
+        pidController.setFF(kFF);
+        pidController.setOutputRange(kMinOutput, kMaxOutput);
+        SmartDashboard.putNumber("P Gain", kP);
+        SmartDashboard.putNumber("I Gain", kI);
+        SmartDashboard.putNumber("D Gain", kD);
+        SmartDashboard.putNumber("FF Value", kFF);
+    }
+    public void updatePID(){
+        double p = SmartDashboard.getNumber("P Gain", 0);
+        double i = SmartDashboard.getNumber("I Gain", 0);
+        double d = SmartDashboard.getNumber("D Gain", 0);
+        double max = SmartDashboard.getNumber("Max Output", 0);
+        double min = SmartDashboard.getNumber("Min Output", 0);
+      
+        //if PID coefficients on SmartDashboard have changed, write new values to controller
+        if((p != kP)) { pidController.setP(p); kP = p; 
+        LOGGER.warning("PID CHANGED");}
+        if((i != kI)) { pidController.setI(i); kI = i; 
+        LOGGER.warning("PID CHANGED");}
+        if((d != kD)) { pidController.setD(d); kD = d; 
+        LOGGER.warning(pidController.getD() +" D CHANGED");}
+        if((max != kMaxOutput) || (min != kMinOutput)) 
+        { 
+            // m_pidController.setOutputRange(min, max); 
+            // kMinOutput = min;
+            // kMaxOutput = max; 
+        }
+    }
+        public void setPIDVelocitySetpoint(double setpoint)
+        {
+            pidController.setReference(setpoint, ControlType.kVelocity);
+        }
+        public double velocity()
+        {
+            return encoder.getVelocity();
+        }
+        public double fpsToRPM(double fps){
+            fps = fps * 12;
+            fps = fps/Constants.kWheelCircumference;
+            fps = fps *60;
+            fps = fps*Constants.kGearRatio;
+            return fps;
+        }
+
+        /*
+        *   Controls the engagement of the shooter.
+        *   @state kReverse disengages shooter, kForward engages shooter, kOff locks shooter in its current position
+        */
+        public void setDoubleSolenoidState(DoubleSolenoid.Value state) {
+            solenoid.set(state); //kOff, kReverse, kForward
+        }
+        public void toggleSolenoidState() {
+            switch(solenoid.get()) {
+                case kForward:
+                    setDoubleSolenoidState(DoubleSolenoid.Value.kReverse);
+                    break;
+                case kReverse:
+                    setDoubleSolenoidState(DoubleSolenoid.Value.kForward);
+                    break;
+                case kOff:
+                    setDoubleSolenoidState(DoubleSolenoid.Value.kForward);
+                    break;
+            }
+        }
+
+        //sets the SparkMax Motor's speed setpoint to 1
+        public static void m_forward() { 
+            mShoot.set(1);
+        }
+
+        //sets the SparkMax Motor's speed setpoint to 0
+        public static void m_stop() {
+            mShoot.set(0);
+        }
+
+        //sets the SparkMax Motor's speed setpoint to -1
+        public static void m_backward() {
+            mShoot.set(-1);
+        }
+
+        public void m_toggle() {
+            if(m_setpoint==0)
+                m_setpoint = 1;
+            else
+                m_setpoint = 0;
+            mShoot.set(m_setpoint);
+        }
+
+          @Override
+          public void periodic() {
+            // This method will be called once per scheduler run
+        
+          }
+}