Merge somt-tx,ty into Main

.gitignore

@@ -188,3 +188,8 @@ compile_commands.json
 
 # Build-time generated constants
 src/main/java/frc/robot/BuildConstants.java
+src/main/java/frc/robot/.BuildConstants.java.swp
+
+# Local planning and AI assistant files (not for repo)
+docs/
+.claude/

CLAUDE.md

@@ -0,0 +1,55 @@
+# CLAUDE.md
+
+This file provides guidance to Claude Code (claude.ai/code) when working with code in this repository.
+
+## Build Commands
+
+```bash
+./gradlew build           # Compile + run tests
+./gradlew compileJava     # Compile only (fastest check)
+./gradlew deploy          # Deploy to RoboRIO
+```
+
+CI runs `./gradlew build` on push/PR to Main using `wpilib/roborio-cross-ubuntu:2025-22.04`.
+
+## Architecture
+
+FRC Team 7461 (Sushi Squad) command-based robot using **WPILib 2026**, **AdvantageKit**, and **Phoenix6** (CTRE TalonFX/Kraken motors).
+
+### IO Abstraction Pattern
+
+Every subsystem uses an IO interface layer for hardware abstraction:
+- `ShooterIO` (interface) → `ShooterIOKraken` (real hardware) / `ShooterIOSim` (simulation)
+- `IntakeIO` → `IntakeReal` / `IntakeSim`
+- `HopperIO` → `HopperIOReal` / `HopperIOSim`
+- `ModuleIO` → `ModuleIOTalonFX` / `ModuleIOSim`
+- `GyroIO` → `GyroIOPigeon2` / `GyroIONavX`
+
+`RobotContainer` selects real vs sim implementations based on `Robot.isReal()`.
+
+### State Machine
+
+`StateMachine.java` maps robot-level states (`IDLE`, `SHOOT_ONLY`, `INTAKE_DOWN`, `INTAKE_DOWN_AND_SHOOT`) to per-subsystem states for shooter, hopper, and intake.
+
+### Subsystems
+
+- **Swerve** — SDS MK4i L3 with KrakenX60, Pigeon2 gyro, PathPlanner autos
+- **Shooter** — Flywheel (3:4 gear ratio, flywheel faster than motor) + hooded mechanism with MotionMagic + feeder
+- **Intake** — Deployed pivot + rollers, TalonFX with MotionMagic
+- **Hopper** — Simple transport motor
+- **Vision** — Dual Limelights ("limelight-left" primary, "limelight-right" secondary), ProjectileSimulator for ballistics, ShotCalculator with LUT
+
+### Key Constants Location
+
+`src/main/java/frc/robot/generated/Constants.java` — auto-generated by gversion plugin. Subsystem-specific constants live in their respective subsystem files (e.g., `ShooterSubsystem.java`, `Intake.java`).
+
+### Vendor Libraries
+
+Phoenix6 26.1.1, AdvantageKit 26.0.0, PathplannerLib 2026.1.2, PhotonLib v2026.2.2, REVLib 2026.0.2. Vendordep JSONs are in `/vendordeps/`.
+
+## Conventions
+
+- Gear ratios are expressed as motor rotations per mechanism rotation (e.g., `FLYWHEEL_GEAR_RATIO = 3.0/4.0` means flywheel spins faster than motor)
+- Shooter RPM API takes flywheel RPM; the gear ratio conversion happens inside `ShooterIOKraken`
+- AdvantageKit `@AutoLog` annotation processor generates logging boilerplate
+- Autonomous paths are PathPlanner `.path` files registered as named commands in `AutoCommands`