Add Mechanism2d visualization and telemetry to shooter subsystems

[Claude]

Adds comprehensive Mechanism2d visualizations and SmartDashboard telemetry to FlywheelSubsystem and VariableHoodSubsystem, following the pattern established by TurretSubsystem.

FlywheelSubsystem

Mechanism2d (4x3 canvas):

• Dual spinning arrows (orange/orange-red) for left/right motor speeds
• Cyan target speed indicator
• Arrow length scales with RPM (0-6000), rotation shows spinning effect

Telemetry:

• Speed metrics: Left/Right/Average RPM, Target, Error
• Current draw: Supply/Stator for both motors
• Status booleans: At_Speed, At_Shoot_Speed

VariableHoodSubsystem

Mechanism2d (3x3 canvas):

• Orange arm showing current hood angle
• Cyan arm showing target angle
• Grey reference line at horizontal

Telemetry:

• Position: Current/Target Angle (degrees), Error, Rotations
• Velocity: DegPerSec
• Current draw: Supply/Stator
• Control: ClosedLoop_Error
• Status booleans: At_Target, At_Starting_Angle, At_Max_Angle

All telemetry organized under Flywheel/ and Hood/ namespaces. Visualization and metrics update at 50Hz in periodic().

// Example: Mechanism2d setup
flywheelMech = new Mechanism2d(4, 3);
leftFlywheelArrow = leftRoot.append(
    new MechanismLigament2d("LeftSpeed", 0.0, 0, 8, new Color8Bit(Color.kOrange))
);
SmartDashboard.putData("Flywheel/Mechanism2d", flywheelMech);

Original prompt

---

This section details on the original issue you should resolve

<issue_title>[Feature]: Shooter subsystem / Hood subsystem</issue_title>
<issue_description># [Feature] Implement Shooter Subsystem (Flywheel & Variable Hood) using YAMS

🔍 Step 1: Analyze Project Structure

Before writing any code, analyze the project workspace.

1. Locate the Constants.java file.
2. Locate the existing subsystems folder to ensure FlywheelSubsystem.java and VariableHoodSubsystem.java are created in the correct package directory.

---

🔢 Step 2: Update Constants.java

CRITICAL: Do NOT hardcode any CAN IDs, gear ratios, speeds, or angles in the subsystem files. Add a ShooterConstants (or similar) inner class to Constants.java with the following values:

Hardware IDs:

• kLeftFlywheelId = 41
• kRightFlywheelId = 42
• kHoodMotorId = 43

Gear Ratios & Kinematics:

• kFlywheelGearRatio = 1.0 (1:1)
• kHoodGearRatio = (20.0 / 48.0) * (15.0 / 30.0) * (10.0 / 187.0) // evaluates to approx 1/89.76

Speeds & Limits:

• kStandardShootRPM = 5000.0
• kWarmUpRPM = 3750.0 // (75% of 5000)
• kHoodStartingAngleDeg = 18.2
• kHoodMaxTravelDeg = 38.0

---

🎯 Step 3: Implement FlywheelSubsystem.java

Create the WPILib Command-based subsystem to control the shooter flywheels. Reference the constants defined in Step 2.

YAMS & Setup Requirements:

• Strictly use YAMS (Yet Another Mechanism System). Do not use Phoenix Pro features.
• Initialize the Kraken X60s using YAMS SmartMotorControllerConfig and TalonFXWrapper.
• Configure the Left motor as Leader and Right motor as Follower (oppose leader direction if physically required).
• Pass the leader motor into a YAMS FlyWheelConfig and use the FlyWheel mechanism class.

Behavioral Requirements:

• Velocity Control: Use Motion Magic / PID via YAMS to control the speed.
• Standard Set Speed: Create a method to set the shooter to kStandardShootRPM.
• Warm-Up: Create a warmUp() method that sets the flywheels to kWarmUpRPM.
• Telemetry & Simulation: Log the current flywheel speeds (from relative encoders) using YAMS built-in telemetry verbosity. Integrate a Mechanism2d representation showing the flywheels spinning.

Documentation: YAMS Shooter/Flywheels Tutorial

---

🎯 Step 4: Implement VariableHoodSubsystem.java

Create the subsystem to control the shooter's variable angle hood. Reference the constants defined in Step 2.

YAMS & Setup Requirements:

• Initialize the Kraken X44 using YAMS SmartMotorControllerConfig and TalonFXWrapper.
• Pass the motor into a YAMS configuration for an angular mechanism (e.g., ArmConfig or TurretConfig) to handle positional logic.

Behavioral Requirements:

• Kinematics: Ensure kHoodGearRatio is properly set in the YAMS MechanismGearing config so positional commands accurately reflect the hood's physical angle.
• Angle Limits: Implement soft limits based on kHoodStartingAngleDeg and kHoodMaxTravelDeg.
• Control: Use closed-loop PID positional control to set and actively hold the hood angle at all times.
• Telemetry: Log the current hood angle in degrees, derived from the motor's relative encoder.

Documentation: YAMS Turrets/Wrists Tutorial

---

🛑 Acceptance Criteria

1. The agent must first read the file tree and locate Constants.java.
2. All magic numbers must be placed in Constants.java.
3. Both new files must inherit from SubsystemBase and be placed in the correct subsystems package.
4. YAMS wrapper classes must be utilized for all motor initializations and config chains.
5. it should build</issue_description>

Comments on the Issue (you are @claude[agent] in this section)

• Fixes [Feature]: Shooter subsystem / Hood subsystem #1

[AdaTomruk]

it fails to build:

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