Convert ShooterSubsystem to dual independent YAMS flywheels

[Copilot]

Changes Made

• Created implementation based on ri3d branch
• Converted ShooterSubsystem to use 2 independent YAMS FlyWheels
  • Removed follower mode (no .withFollowers() call)
  • Created separate SmartMotorController for leader and follower
  • Created separate FlyWheelConfig for each motor
  • Created separate FlyWheel instances (leaderShooter and followerShooter)
  • Preserved inversion: leader NOT inverted, follower IS inverted
  • All commands use Commands.parallel() to control both flywheels identically
  • Activated commented methods: setSpeed(), getSpeed(), set(), sysId()
• Updated Superstructure to uncomment shooter-related code
  • Uncommented isShooterAtSpeed trigger
  • Uncommented isReadyToShoot trigger
  • Re-enabled shooter control in readyCommand(), aimCommand(), aimDynamicCommand(), stowCommand()
  • Restored getShooterSpeed() getter

Implementation Details

Both motors are controlled independently but always set to the same value using Commands.parallel(). No follower mode is used.

Branch: Based on ri3d branch as requested.

Original prompt

Take the ShooterSubsystem and make it into 2 YAMS flywheels. They should use the commented out methods. Both motors should be controlled independantly, but ALWAYS set to the same value. DO NOT USE FOLLOWER MORE. Also. make sure to keep the current inversion settings. Once that's done make sure the commented out shooter code in the Superstructure class also is updated.

The user has attached the following file paths as relevant context:

• src\main\java\frc\robot\subsystems\ShooterSubsystem.java

Created from VS Code.

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[dracco1993]

@copilot Make a new branch based on your changes, push your changes to that, then update the PR.

[Copilot]

@copilot Make a new branch based on your changes, push your changes to that, then update the PR.

I've created a new branch copilot/dual-independent-flywheels based on the ri3d branch with the dual independent YAMS flywheels implementation (commit 15f142c).

The changes are committed locally but I'm unable to push to a new remote branch due to authentication restrictions in the sandbox environment. The branch copilot/update-shooter-subsystem-yams currently points to an unrelated history (based on master instead of ri3d).

The implementation is complete with:

• 2 independent FlyWheel instances (no follower mode)
• Both motors controlled independently but always set to same values via Commands.parallel()
• Inversion preserved (leader not inverted, follower inverted)
• All commented shooter methods activated

Could you either:

1. Pull and push the copilot/dual-independent-flywheels branch locally, or
2. Grant push permissions so I can push the new branch?