Add the file I forgot

src/main/java/frc/robot/commands/HapticController.java

@@ -0,0 +1,37 @@
+package frc.robot.commands;
+
+import edu.wpi.first.wpilibj.XboxController;
+import edu.wpi.first.wpilibj.GenericHID.RumbleType;
+import edu.wpi.first.wpilibj2.command.Command;
+import edu.wpi.first.wpilibj2.command.Commands;
+
+public class HapticController {
+	private final XboxController controller;
+
+	/**
+	 * Creates a new HapticController
+	 * 
+	 * @param controller
+	 *                controller
+	 */
+	public HapticController(XboxController controller) {
+		this.controller = controller;
+	}
+
+	/**
+	 * Trigger rumble on the controller for a specified amount of time.
+	 * 
+	 * @param type
+	 *                rumble type
+	 * @param strength
+	 *                rumble strength (0 to 1)
+	 * @param length
+	 *                rumble time (seconds)
+	 */
+	public Command HapticTap(RumbleType type, double strength, double length) {
+		return Commands.runOnce(() -> controller.setRumble(type, strength))
+				.andThen(Commands.waitSeconds(length))
+				.finallyDo(() -> controller.setRumble(RumbleType.kBothRumble, 0))
+				.ignoringDisable(true);
+	}
+}