feat: create chute roller subsystem

Signed-off-by: Dasun Abeykoon <[email protected]>

Author: dabeycorn

src/main/java/org/frc6423/robot/subsystems/superstructure/Chute.java

@@ -0,0 +1,101 @@
+// Copyright (c) 2025 FRC 6423 - Ward Melville Iron Patriots
+// https://github.com/wmironpatriots
+// 
+// Open Source Software; you can modify and/or share it under the terms of
+// MIT license file in the root directory of this project
+
+package org.frc6423.robot.subsystems.superstructure;
+
+import edu.wpi.first.wpilibj2.command.Command;
+import java.util.function.DoubleSupplier;
+import org.frc6423.lib.subsystems.Roller;
+import org.frc6423.lib.subsystems.RollerIO;
+import org.frc6423.lib.subsystems.RollerIONeo;
+import org.frc6423.lib.subsystems.RollerIONone;
+import org.frc6423.robot.Robot;
+
+/** {@link Roller} subsystem representing the rollers on the chute */
+public class Chute extends Roller {
+  /** CONSTANTS */
+  public static final double MINIMUM_STALL_CURRENT_AMPS = 30.0;
+
+  /**
+   * @return fake {@link Chute} subsystem
+   */
+  public static Chute none() {
+    return new Chute(new RollerIONone());
+  }
+
+  /**
+   * Factory for creating a {@link Arm} subsystem
+   *
+   * @return {@link Arm} Subsystem
+   */
+  public static Chute create() {
+    if (Robot.isReal()) {
+      return new Chute(new RollerIONeo());
+    } else {
+      return new Chute(new RollerIONone());
+    }
+  }
+
+  private Chute(RollerIO hardware) {
+    super("ArmRoller", hardware);
+  }
+
+  /**
+   * @return true if roller motor is stalling
+   */
+  public boolean isStalling() {
+    return super.isStalling(MINIMUM_STALL_CURRENT_AMPS);
+  }
+
+  /**
+   * Run roller at specified volts
+   *
+   * @param volts desired volts
+   * @return {@link Command}
+   */
+  public Command runVolts(DoubleSupplier volts) {
+    return super.runVolts(volts);
+  }
+
+  /**
+   * Run roller at specified volts
+   *
+   * @param volts desired volts
+   * @return {@link Command}
+   */
+  public Command runVolts(double volts) {
+    return super.runVolts(volts);
+  }
+
+  /**
+   * Run roller at specified speed
+   *
+   * @param speedRpm desired speed in revs per minute
+   * @return {@link Command}
+   */
+  public Command runSpeed(DoubleSupplier speedRpm) {
+    return super.runSpeed(speedRpm);
+  }
+
+  /**
+   * Run roller at specified speed
+   *
+   * @param speedRpm desired speed in revs per minute
+   * @return {@link Command}
+   */
+  public Command runSpeed(double speedRpm) {
+    return super.runSpeed(speedRpm);
+  }
+
+  /**
+   * Hold roller at current speed
+   *
+   * @return {@link Command}
+   */
+  public Command holdSpeed() {
+    return super.holdSpeed();
+  }
+}