shotBlocker in code

[cwkpete7383]

No description provided.

[gemini-code-assist]

Code Review

This pull request introduces a new Blocker subsystem, including its hardware configuration, initialization logic, and integration into the robot's control scheme via a new BLOCK intake mode. The review feedback identifies a potential NullPointerException in Controls.java when the blocker is disabled, incorrect position constants in Blocker.java that would prevent physical movement, and a recommendation to use instance-based command factories for more robust subsystem requirement handling.

[gemini-code-assist]

This trigger binding should be guarded with a null check for s.blocker. If the blocker subsystem is disabled in Subsystems.java, s.blocker will be null, leading to a NullPointerException when blockerOutCommand() or blockerInCommand() is called.

    if (s.blocker != null) {
      connected(indexingTestController)
          .and(indexingTestController.rightTrigger())
          .onTrue(
              Commands.parallel(
                  Commands.runOnce(() -> intakeMode = IntakeMode.BLOCK),
                  s.blocker.blockerOutCommand()))
          .onFalse(
              Commands.parallel(
                  Commands.runOnce(() -> updateIntakeMode()), s.blocker.blockerInCommand()));
    }

[koolpoolo]

seems like mech is doing this so keeping this here just in case