WRT Java Style Guide

public class ShooterSubsystem extends SubsystemBase {

    // m_ prefix for instance fields
    private final TalonFX m_shooterMotor;
    private double m_targetRPS = 0.0;
    private boolean m_isSpunUp = false;

    public ShooterSubsystem() {
        // k prefix for constants from Constants.java
        m_shooterMotor = new TalonFX(ShooterK.kMotorID);
    }
}

public final class Constants {

    // one nested class per subsystem
    public static final class ShooterK {
        public static final int    kMotorID    = 11;
        public static final double kIdleRPS    = 0.0;
        public static final double kShootRPS   = 80.0;
        public static final String kLogTab     = "Shooter";
    }

    public static final class DriveK {
        // include units in the name to avoid conversion bugs!!
        public static final double kMaxTranslation_mps = 4.5;
        public static final double kMaxRotation_radps  = 9.42;
        public static final double kWheelRadius_m      = 0.0508;
    }

    public static final class ControllerK {
        public static final int kDriverPort   = 0;
        public static final int kOperatorPort = 1;
    }
}

// BAD: just restates the code, adds nothing
// set motor speed to 0.5
m_motor.set(0.5);

// GOOD: explains why 0.5, what this achieves
// ramp slowly to avoid current spike on enable
m_motor.set(0.5);

// ALSO GOOD: explains a non-obvious workaround
// inverted because motor is mounted backwards on Oasis (but not Watergate)
m_motor.setInverted(true);

/**
 * Sets the shooter target speed and begins spinning up.
 *
 * @param targetRPS desired flywheel speed in rotations per second
 */
public void setTargetRPS(double targetRPS) {
    m_targetRPS = targetRPS;
    m_controller.setSetpoint(targetRPS);
}

// BAD -- what is 11? what is 80? who knows!!
m_motor = new TalonFX(11);
m_controller.setSetpoint(80.0);

// GOOD -- self-documenting, easy to change from one place
m_motor = new TalonFX(ShooterK.kMotorID);
m_controller.setSetpoint(ShooterK.kShootRPS);

package frc.robot.subsystems;

import edu.wpi.first.wpilibj2.command.SubsystemBase;
import com.ctre.phoenix6.hardware.TalonFXS;
import com.ctre.phoenix6.configs.TalonFXSConfiguration;
import com.ctre.phoenix6.configs.CurrentLimitsConfigs;
import com.ctre.phoenix6.configs.MotorOutputConfigs;
import com.ctre.phoenix6.signals.NeutralModeValue;
import com.ctre.phoenix6.signals.InvertedValue;

public class ExampleSubsystem extends SubsystemBase {

    // ---- HARDWARE -----------------------------------------------
    private final TalonFXS m_motor;

    // ---- STATE --------------------------------------------------
    private double m_targetRPS = 0.0;

    // ---- CONSTRUCTOR --------------------------------------------
    public ExampleSubsystem() {
        m_motor = new TalonFXS(ExampleK.kMotorID);
        configureMotor();
    }

    private void configureMotor() {
        var currentCfg = new CurrentLimitsConfigs()
            .withStatorCurrentLimit(ExampleK.kCurrentLimit_A)
            .withSupplyCurrentLimit(15)
            .withStatorCurrentLimitEnable(true)
            .withSupplyCurrentLimitEnable(true);

        var outputCfg = new MotorOutputConfigs()
            .withInverted(InvertedValue.CounterClockwise_Positive) // flip if needed
            .withNeutralMode(NeutralModeValue.Coast);

        m_motor.getConfigurator().apply(
            new TalonFXSConfiguration()
                .withCurrentLimits(currentCfg)
                .withMotorOutput(outputCfg)
        );
    }

    // ---- PUBLIC API ---------------------------------------------
    public void setSpeed(double rps) { m_targetRPS = rps; }

    public boolean isAtTarget() {
        return Math.abs(m_motor.getVelocity().getValueAsDouble() - m_targetRPS) < ExampleK.kTolerance_rps;
    }

    // ---- PERIODIC -----------------------------------------------
    @Override
    public void periodic() {
        // runs every 20ms. telemetry + closed-loop control goes here
        m_motor.set(m_targetRPS / ExampleK.kMaxRPS);
    }
}

// NEVER DO THIS in robot code
while (!m_shooter.isAtTarget()) {
    // blocks the entire robot loop. watchdog WILL fire. robot dies.
}