Add Intake and update hood & flywheel IOs

[GrumpyBud]

Add a new Intake subsystem (TalonFX pair with follower, voltage/duty control, periodic updates) and wire it into the DEVBOT RobotContainer.

Update hardware mappings and behavior:

• FlywheelIOTalonFX: change leader/follower CAN IDs (14/13 -> 18/19) and reset initial PID/ff fields to 0.0.
• Hood: raise min angle from 0.0 to 0.1 deg and change REAL/REPLAY default tunable kP/kD values.
• HoodIOTalonFX: replace external CANcoder usage with on-talon feedback, switch to MotionMagic control, add motion magic configs, change Talon ID to 17, set motor inversion and overall sensor-to-mechanism ratio (152.0), remove remote sensor config.

RobotContainer changes:

• Import and instantiate Intake and HoodIOTalonFX for DEVBOT; comment out DEVBOT drive construction.
• Add controller Y button bindings to set hood angles (single press -> 15°, double press -> 25°) and stow on release.

These changes reflect updated wiring/CAN IDs, introduce the intake subsystem, and move the hood to motion-magic on the Talon with the new reduction and sensor configuration.

[Copilot]

Pull request overview

Adds a new Intake subsystem and updates hood/flywheel TalonFX hardware configuration to match updated CAN wiring and control approach (hood moves from remote CANcoder feedback to on-Talon Motion Magic). RobotContainer is updated to instantiate these on DEVBOT and adds new hood angle button bindings.

Changes:

• Introduce Intake subsystem controlling a TalonFX leader/follower pair with voltage or duty-cycle control.
• Update hood TalonFX IO to use on-motor feedback and Motion Magic, with updated device ID, inversion, and gear ratio.
• Update flywheel TalonFX CAN IDs and hood tuning defaults / min angle, plus RobotContainer bindings and DEVBOT wiring changes.

Reviewed changes

Copilot reviewed 5 out of 5 changed files in this pull request and generated 3 comments.

Show a summary per file

File	Description
src/main/java/frc/robot/subsystems/shooter/hood/HoodIOTalonFX.java	Switch hood to on-Talon feedback + Motion Magic, update device ID and gearing configuration.
src/main/java/frc/robot/subsystems/shooter/hood/Hood.java	Adjust hood min angle and REAL/REPLAY default tunables.
src/main/java/frc/robot/subsystems/shooter/flywheel/FlywheelIOTalonFX.java	Update flywheel leader/follower CAN IDs and initial cached gain fields.
src/main/java/frc/robot/subsystems/intake/Intake.java	Add new intake subsystem controlling two TalonFX motors with follower setup.
src/main/java/frc/robot/RobotContainer.java	Wire Intake + HoodIOTalonFX into DEVBOT and add Y-button hood angle bindings.
src/main/java/frc/robot/Constants.java	Change default robot selection to DEVBOT and enable tuningMode.

Comments suppressed due to low confidence (2)

src/main/java/frc/robot/RobotContainer.java:307

• This Y-button binding schedules Commands.run(...), which never ends and has no subsystem requirements. That means it can continue running after the button is released and/or fight with the double-press binding. Use a terminating command (e.g., runOnce) or a whileTrue/startEnd style binding that requires the hood subsystem so it cancels cleanly on release.

        .y()
        .onTrue(
            Commands.runOnce(
                    () -> {

src/main/java/frc/robot/RobotContainer.java:312

• The double-press Y binding has the same issue as the single-press binding: Commands.run(...) is non-terminating and does not require hood, so it can remain scheduled and conflict with other hood commands. Prefer runOnce or startEnd/whileTrue and include the hood requirement so only one hood-control command runs at a time.

                      var calc = ShotCalculator.getInstance();
                      calc.setUseDefaults(!calc.isUseDefaults());
                    })
                .withName("ToggleShotCalcDefaults")
                .ignoringDisable(true));

[Copilot]

The comment says "The left motor is CCW+" but the inversion is set to InvertedValue.Clockwise_Positive, which is the opposite. Either fix the comment or change the inversion so the code matches the documented motor direction.

Suggested change

	// The left motor is CCW+
	// The left motor is CW+

[Copilot]

This new hardware subsystem bypasses the project’s established AdvantageKit IO layering/logging pattern (e.g., FlywheelIO + FlywheelIOTalonFX + Flywheel in subsystems/shooter/flywheel/, and HoodIO + HoodIOTalonFX + Hood in subsystems/shooter/hood/). Consider introducing an IntakeIO interface with @AutoLog inputs plus an IntakeIOTalonFX implementation (and optionally IntakeIOSim) so the intake’s inputs/outputs are logged consistently and SIM/REPLAY are easier to support.

[Copilot]

motionMagicConfigs is defined but never applied to the Talon. As written, Motion Magic will run with whatever defaults are on the controller (often 0 cruise velocity/accel), which can prevent CLOSED_LOOP moves from happening as expected. Apply these settings via config.MotionMagic... before applying the config, or apply motionMagicConfigs with the configurator (and consider removing the unused field if not needed).