Shooter subsystem

[pigrammer3]

closes #3

[Copilot]

Pull request overview

This PR implements an initial shooter subsystem with velocity PID control for a three-motor flywheel and position PID control for a hood mechanism. The implementation follows the AdvantageKit IO layer pattern established in the codebase for hardware abstraction and logging.

Changes:

• Added ShooterIO interface defining inputs and control methods for flywheel and hood
• Added SparkMax hardware implementation with PID and feedforward control for both flywheel and hood
• Added basic simulation implementation for testing without hardware

Reviewed changes

Copilot reviewed 5 out of 5 changed files in this pull request and generated 10 comments.

Show a summary per file

File	Description
ShooterIO.java	Defines the IO interface with inputs class for flywheel velocity/temperature/current and hood position/velocity
ShooterIOSparkMax.java	Hardware implementation configuring 3 flywheel motors (with followers) and 1 hood motor with PID/feedforward control
ShooterIOSimBasic.java	Basic simulation using trapezoidal motion profiles for hood and simple velocity model for flywheel
Shooter.java	Subsystem class providing logging and command factories for hood angle and combined operation
Constants.java	Adds ShooterConstants with motor IDs, gear ratios, PID gains, and physical limits

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[Copilot]

Using kMAXMotionVelocityControl for a flywheel is unusual and likely incorrect. Flywheel velocity control should typically use ControlType.kVelocity instead. MAXMotion velocity control is designed for profiled velocity changes and requires cruise velocity to be set in MAXMotionConfig (which is missing on line 49). For simple flywheel velocity PID control, use ControlType.kVelocity.

Suggested change

	flywheelController.setSetpoint(velocity.in(RotationsPerSecond), ControlType.kMAXMotionVelocityControl);
	flywheelController.setSetpoint(velocity.in(RotationsPerSecond), ControlType.kVelocity);

[Copilot]

The alternate encoder is configured on lines 64-65 but never retrieved or used. The hood uses the relative encoder (line 73). If this alternate encoder configuration is not needed, consider removing it to avoid confusion. If it's intended for future use with an external encoder, consider adding a comment explaining this.

Suggested change

	hoodConfig.alternateEncoder.positionConversionFactor(1 / ShooterConstants.HERRINGBONE_RATIO)
	.velocityConversionFactor(60 / ShooterConstants.HERRINGBONE_RATIO);