On the fly shooting - #2
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Add shooter support and pathplanner assets. Files added: Shooter subsystem (SparkFlex config, RPM control, manual mode), ShootOnFly command (skeleton to compute shot path using drivetrain pose/velocity), ShotCalculator (physics-based shot/rpm, clearance and feasibility checks). Constants.java: add Shooterc config constants (IDs, PID, gearReduction, launch angle). Drivetrain.java: reorganized imports, removed legacy/commented code, added getDrivetrainPosition(), getDrivetrainVelocity(), velocity estimation (updateVelocity) and call in periodic to provide robot velocities to shooting logic. Also add PathPlanner navgrid.json and an Example Path.path for autonomous path planning. These changes enable computing on-the-fly shooter setpoints and include initial pathplanner resources.
Add support for shooting-on-the-fly: integrate Shooter into TeleopDrive and wire a POV-based shoot/reset binding in RobotContainer. Introduce HeadingAlignController and HexClosest utilities and extend ShotCalculator (signature change + safety constant) so TeleopDrive can compute heading and required shot velocity while moving. Update Constants with shooter parameters, goal poses and button mappings (placeholder TODOs). Adjust Shooter API to use pidController setpoints and add stop(); add a minimal Indexer subsystem. Remove obsolete RotateToNearest60 text file and apply minor path coordinate tweaks.
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Tim look at this goated code