feat(shooter): Add serializer motor TalonFX.

src/main/java/frc/robot/shooter/SerializerMotorIOTalonFX.java

@@ -0,0 +1,53 @@
+package frc.robot.shooter;
+
+import com.ctre.phoenix6.StatusSignal;
+import com.ctre.phoenix6.configs.TalonFXConfiguration;
+import com.ctre.phoenix6.hardware.TalonFX;
+import com.ctre.phoenix6.signals.NeutralModeValue;
+
+import edu.wpi.first.math.controller.SimpleMotorFeedforward;
+import frc.lib.Configurator;
+
+/** Serializer motor using TalonFX. */
+public class SerializerMotorIOTalonFX implements SerializerMotorIO {
+
+  private final TalonFX talonFX;
+
+  private final StatusSignal<Double> velocityRotationsPerSecond, statorCurrentAmps;
+
+  private final SimpleMotorFeedforward velocityFeedforward;
+
+  public SerializerMotorIOTalonFX() {
+    talonFX = new TalonFX(20);
+
+    velocityRotationsPerSecond = talonFX.getVelocity();
+    statorCurrentAmps = talonFX.getStatorCurrent();
+
+    velocityFeedforward = new SimpleMotorFeedforward(0, 0);
+  }
+
+  @Override
+  public void configure() {
+    final TalonFXConfiguration config = new TalonFXConfiguration();
+
+    config.MotorOutput.NeutralMode = NeutralModeValue.Coast;
+
+    Configurator.configureTalonFX(talonFX.getConfigurator(), config);
+  }
+
+  @Override
+  public void update(SerializerMotorIOValues values) {
+    velocityRotationsPerSecond.refresh();
+    statorCurrentAmps.refresh();
+
+    values.velocityRotationsPerSecond = velocityRotationsPerSecond.getValue();
+    values.currentAmps = statorCurrentAmps.getValue();
+  }
+
+  @Override
+  public void setSetpoint(double velocityRotationsPerSecond) {
+    double volts = velocityFeedforward.calculate(velocityRotationsPerSecond);
+
+    talonFX.setVoltage(volts);
+  }
+}

src/main/java/frc/robot/shooter/ShooterFactory.java

@@ -14,7 +14,7 @@ public class ShooterFactory {
    */
   public static SerializerMotorIO createSerializerMotor() {
     if (Robot.isReal() && RobotConstants.REAL_SUBSYSTEMS.contains(Subsystem.SHOOTER))
-      return new SerializerMotorIOSparkMax();
+      return new SerializerMotorIOTalonFX();
 
     return new SerializerMotorIOSim();
   }