Refactor ShooterSubsystem to use independent YAMS flywheels instead of follower mode

[Copilot]

Converts ShooterSubsystem from a single flywheel with motor follower configuration to two independent YAMS flywheels that are commanded identically.

Changes

• Removed follower mode: Eliminated withFollowers() from SmartMotorControllerConfig
• Dual independent controllers: Created separate leftSmc and rightSmc SmartMotorController instances, each wrapping a single NEO motor (DCMotor.getNEO(1))
• Dual flywheels: Created leftShooter and rightShooter FlyWheel instances with independent telemetry
• Parallel commanding: All command methods now use Commands.parallel() to set both flywheels to identical values
• Speed averaging: getSpeed() returns average of both flywheel speeds

Example

// Before: Single flywheel with follower
private final SmartMotorController smc = new NovaWrapper(leaderNova, DCMotor.getNEO(2), smcConfig);
private final FlyWheel shooter = new FlyWheel(shooterConfig);

public Command setSpeed(AngularVelocity speed) {
  return shooter.setSpeed(speed);
}

// After: Two independent flywheels
private final SmartMotorController leftSmc = new NovaWrapper(leftNova, DCMotor.getNEO(1), leftSmcConfig);
private final SmartMotorController rightSmc = new NovaWrapper(rightNova, DCMotor.getNEO(1), rightSmcConfig);
private final FlyWheel leftShooter = new FlyWheel(leftShooterConfig);
private final FlyWheel rightShooter = new FlyWheel(rightShooterConfig);

public Command setSpeed(AngularVelocity speed) {
  return Commands.parallel(
    leftShooter.setSpeed(speed),
    rightShooter.setSpeed(speed)
  );
}

Motor inversion settings preserved (both non-inverted). Public API unchanged; Superstructure requires no modifications.

Warning

Firewall rules blocked me from connecting to one or more addresses (expand for details)

I tried to connect to the following addresses, but was blocked by firewall rules:

• 3015rangerrobotics.github.io
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• Yet-Another-Software-Suite.github.io
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• dev.studica.com
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• docs.home.thethriftybot.com
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• frcmaven.wpi.edu
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• https://storage.googleapis.com/grapple-frc-maven/au/grapplerobotics/libgrapplefrcjava/2025.0.8/libgrapplefrcjava-2025.0.8.pom
  • Triggering command: /usr/lib/jvm/temurin-17-jdk-amd64/bin/java /usr/lib/jvm/temurin-17-jdk-amd64/bin/java --add-opens=java.base/java.lang=ALL-UNNAMED --add-opens=java.base/java.lang.invoke=ALL-UNNAMED --add-opens=java.base/java.util=ALL-UNNAMED --add-opens=java.prefs/java.util.prefs=ALL-UNNAMED --add-exports=jdk.compiler/com.sun.tools.javac.api=ALL-UNNAMED --add-exports=jdk.compiler/com.sun.tools.javac.util=ALL-UNNAMED --add-opens=java.base/java.util=ALL-UNNAMED --add-opens=java.prefs/java.util.prefs=ALL-UNNAMED --add-opens=java.base/java.nio.charset=ALL-UNNAMED --add-opens=java.base/java.net=ALL-UNNAMED --add-opens=java.base/java.util.concurrent.atomic=ALL-UNNAMED --add-opens=java.xml/javax.xml.namespace=ALL-UNNAMED -XX:MaxMetaspaceSize=384m -XX:+HeapDumpOnOutOfMemoryError -Xms256m -Xmx512m -Dfile.encoding=UTF-8 -Duser.country -Duser.language=en (http block)
• maven.ctr-electronics.com
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• maven.reduxrobotics.com
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• maven.revrobotics.com
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• shenzhen-robotics-alliance.github.io
  • Triggering command: /usr/lib/jvm/temurin-17-jdk-amd64/bin/java /usr/lib/jvm/temurin-17-jdk-amd64/bin/java --add-opens=java.base/java.lang=ALL-UNNAMED --add-opens=java.base/java.lang.invoke=ALL-UNNAMED --add-opens=java.base/java.util=ALL-UNNAMED --add-opens=java.prefs/java.util.prefs=ALL-UNNAMED --add-exports=jdk.compiler/com.sun.tools.javac.api=ALL-UNNAMED --add-exports=jdk.compiler/com.sun.tools.javac.util=ALL-UNNAMED --add-opens=java.base/java.util=ALL-UNNAMED --add-opens=java.prefs/java.util.prefs=ALL-UNNAMED --add-opens=java.base/java.nio.charset=ALL-UNNAMED --add-opens=java.base/java.net=ALL-UNNAMED --add-opens=java.base/java.util.concurrent.atomic=ALL-UNNAMED --add-opens=java.xml/javax.xml.namespace=ALL-UNNAMED -XX:MaxMetaspaceSize=384m -XX:+HeapDumpOnOutOfMemoryError -Xms256m -Xmx512m -Dfile.encoding=UTF-8 -Duser.country -Duser.language=en (dns block)
• yet-another-software-suite.github.io
  • Triggering command: /usr/lib/jvm/temurin-17-jdk-amd64/bin/java /usr/lib/jvm/temurin-17-jdk-amd64/bin/java --add-opens=java.base/java.lang=ALL-UNNAMED --add-opens=java.base/java.lang.invoke=ALL-UNNAMED --add-opens=java.base/java.util=ALL-UNNAMED --add-opens=java.prefs/java.util.prefs=ALL-UNNAMED --add-exports=jdk.compiler/com.sun.tools.javac.api=ALL-UNNAMED --add-exports=jdk.compiler/com.sun.tools.javac.util=ALL-UNNAMED --add-opens=java.base/java.util=ALL-UNNAMED --add-opens=java.prefs/java.util.prefs=ALL-UNNAMED --add-opens=java.base/java.nio.charset=ALL-UNNAMED --add-opens=java.base/java.net=ALL-UNNAMED --add-opens=java.base/java.util.concurrent.atomic=ALL-UNNAMED --add-opens=java.xml/javax.xml.namespace=ALL-UNNAMED -XX:MaxMetaspaceSize=384m -XX:+HeapDumpOnOutOfMemoryError -Xms256m -Xmx512m -Dfile.encoding=UTF-8 -Duser.country -Duser.language=en (dns block)

If you need me to access, download, or install something from one of these locations, you can either:

• Configure Actions setup steps to set up my environment, which run before the firewall is enabled
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Original prompt

Starting from the ri3d branch, 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.

Created from VS Code.

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