feat(shooter): Implement charge and shoot.

src/main/java/frc/robot/RobotContainer.java

@@ -27,8 +27,7 @@ private void initializeShuffleboards() {
   }
 
   private void configureBindings() {
-    // TODO
-    operator.rightBumper().whileTrue(shooter.serialize()).onFalse(shooter.stopSerializing());
+    operator.rightBumper().whileTrue(shooter.spin()).onFalse(shooter.stopSpinning());
     operator.rightTrigger().whileTrue(shooter.smartSerialize()).onFalse(shooter.stopSerializing());
   }
 

src/main/java/frc/robot/shooter/Shooter.java

@@ -72,15 +72,6 @@ private boolean isHoldingNote() {
     return beamBreakSensorValues.isBroken; // TODO debounce / filter?
   }
 
-  /**
-   * Returns true if the shooter is not holding a note.
-   *
-   * @return true if the shooter is not holding a note.
-   */
-  private boolean isNotHoldingNote() {
-    return !isHoldingNote();
-  }
-
   /**
    * Calculates the tangential speed of the serializer in meters per second.
    *
@@ -120,17 +111,25 @@ public void addToShuffleboard(ShuffleboardTab tab) {
   }
 
   public Command serialize() {
-    return Commands.run(() -> serializerMotor.setVoltage(4));
+    return Commands.run(() -> serializerMotor.setVoltage(4), this);
   }
 
   public Command stopSerializing() {
-    return Commands.runOnce(() -> serializerMotor.setVoltage(0));
+    return Commands.runOnce(() -> serializerMotor.setVoltage(0), this);
   }
 
   public Command smartSerialize() {
     return serialize()
-        .until(this::isNotHoldingNote)
-        .unless(this::isNotHoldingNote)
+        .onlyWhile(this::isHoldingNote)
+        .onlyIf(this::isHoldingNote)
         .andThen(stopSerializing());
   }
+
+  public Command spin() {
+    return Commands.run(() -> flywheelMotor.setVoltage(8), this);
+  }
+
+  public Command stopSpinning() {
+    return Commands.runOnce(() -> flywheelMotor.setVoltage(0), this);
+  }
 }