Post-season cleanup: 11 bug fixes + 66 tests + CI#2

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sjqtentacles wants to merge 12 commits into

team696:mainfrom

sjqtentacles:cleanup/post-season-bugfixes-and-tests

Commits on May 27, 2026

chore: scaffold tests (AssertJ + Mockito deps, WpilibTestBase, parallel forks)

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test+fix: FieldBoundsTest catches climb_tower_red OOB; fix 5201 -> 5.201

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test+fix: AutoChooserConsistencyTest catches mislabeled addOption calls; delete dupes

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test+refactor: NamedCommandRegistry + NamedCommandConsistencyTest

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test+refactor: extract VisionFilter from Swerve.acceptEstimate

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test+refactor: extract ShooterControlPolicy; ShootCommand uses hysteresis

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test+fix: Shooter.aggregateRollerVelocity uses only leader (not avg with opposed follower)

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test+fix: add Hopper.stop() (void); update 5 in-code callers

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test+fix: alignToClimb uses Commands.defer for lazy alliance lookup

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chore: post-cycle cleanup batch

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test: bonus coverage — BotConstants, PLog, BaseCam, AllianceFind, GyroReset, Intake

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ci: GitHub Actions workflow runs ./gradlew build on push + PR

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