refactor: high-level OOP rewrite of frc.robot subsystems

[YehudaRothstein]

What

A package-wide OOP overhaul of frc.robot: the subsystems and their coordination layer are rewritten from procedural, internals-leaking code into encapsulated, declarative Java. No tuning values were changed — every gain, conversion factor, interpolation-table entry, current limit, and friction constant is preserved byte-for-byte (they were only moved into the *Constants files).

Why

The original subsystems were "too basic": public motors/mechanisms/currentState fields, ConditionalCommands polling currentState.equals(IDLE), magic numbers inline in constructors, the same state-machine boilerplate copy-pasted three times, a stateful-supplier anti-pattern in Shooter, and weak inter-class wiring (Transport hard-coded to () -> true, Superstructure reaching into shooter.turretMechanism, 12 hand-wired trigger→state blocks).

Key changes

New abstractions

• frc/robot/lib/StateMachineSubsystem.java — generic base StateMachineSubsystem<S extends Enum<S>> owning currentState + setStateCommand.
• frc/robot/lib/FieldZones.java — single owner of all field-geometry triggers (alliance/neutral zones, delivery side, trench).
• frc/robot/superstructure/RobotStateSelector.java — declarative Rule(when, then) table replacing initTriggers.

Subsystems (Shooter, Intake, Transport)

• Privatized all motors/mechanisms/encoders; expose intent-level API (coastCommand, manualShoot, isShooterReady, atPositionTrigger).
• *States enums now carry behavior (isHighGoal(), goalAngle(), isShooting(), linearVelocity()) instead of bare public fields.
• Fixed Shooter's stateful-supplier anti-pattern: setpoints are plain double fields written each loop, read by stable lambdas.
• Removed dead code (java.sql import, no-op (at)->at=false, redundant turretToHubVector, yoavHatesThisCommandCommand → manualShoot).

Communication

• Superstructure shrank ~327 → ~115 lines; dropped 18 boolean log-getters (zones self-log via nested FieldZones).
• Transport now gates on the real shooter-ready signal instead of () -> true (intentional behavior change).

Reviewer notes

• Untestable without the robot. Only guarantee here is ./gradlew build passing. The two intentional flow changes — real transport gating and the declarative selector — need on-robot re-validation (state transitions, shooting, intake pump, delivery aiming) before competition. The selector was checked rule-by-rule against the old initTriggers and is logically identical.
• FieldZones lives in frc.robot.lib (not superstructure) because Shooter consumes its inTrench() trigger, and a subsystem importing the superstructure package would be a layering inversion.
• Alliance/intermediate zone detection remains forced (the team's real geometry was already disabled); behavior preserved, ready to re-enable in FieldZones.

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