added logic to allow for constant shoot rev in auton

src/main/java/frc/robot/RobotContainer.java

@@ -148,7 +148,6 @@ private void configureBindings() {
     _driveController.L1().onTrue(Commands.runOnce(_swerveSubsystem::toggleSpeed, _swerveSubsystem));
     _driveController.R1().onTrue(Commands.runOnce(() -> _swerveSubsystem.fieldOriented = !_swerveSubsystem.fieldOriented, _swerveSubsystem));
     _driveController.cross().whileTrue(new BrakeSwerve(_swerveSubsystem, _ledSubsystem));
-    _driveController.square().onTrue(Commands.runOnce(() -> AutonShoot.canShoot = false));
 
     // TESTING ONLY!!!
     _driveController.triangle().onTrue(Commands.runOnce(() -> _swerveSubsystem.resetGyro(180), _swerveSubsystem));
@@ -193,8 +192,9 @@ public void teleopInit() {
 
   /** @return The Command to schedule for auton. */
   public Command getAutonCommand() {
+    AutonShoot.reset();
     _swerveSubsystem.fieldOriented = false; // make sure swerve is robot-relative for pathplanner to work
-    _shooterSubsystem.setShooterState(ShooterState.IDLE);
+    _shooterSubsystem.setShooterState(ShooterState.SHOOT);
 
     return _autonChooser.getSelected();
     // return null;

src/main/java/frc/robot/commands/auto/AutonShoot.java

@@ -31,11 +31,11 @@
 // information, see:
 // https://docs.wpilib.org/en/stable/docs/software/commandbased/convenience-features.html
 public class AutonShoot extends SequentialCommandGroup {
-  /** 
-   * Indicates whether the note in the intake can be shot right away, this means that the note is already squished, and
-   * that the shooter is already revved enough.
-   */
-  public static boolean canShoot = false;
+  /** If the note is intaked all the way to shoot. */
+  public static boolean isIntaked = false;
+
+  /** If the shooter is revved all the way to shoot. */
+  public static boolean isRevved = false; 
 
   /** Creates a new AutonShoot. */
   public AutonShoot(
@@ -51,9 +51,9 @@ public AutonShoot(
       new ParallelCommandGroup(
         // This command will squeeze the note while revving up the shooter. It will only run if the note can't be shot right away. 
         new ParallelCommandGroup(
-          new SpinShooter(shooter, ShooterState.SHOOT, true).andThen(new WaitCommand(2)),
-          new FeedActuate(intake, FeedMode.INTAKE).withTimeout(1)
-        ).onlyIf(() -> !canShoot).andThen(() -> canShoot = true),
+          new SpinShooter(shooter, ShooterState.SHOOT, true).onlyIf(() -> !isRevved).andThen(new WaitCommand(2)),
+          new FeedActuate(intake, FeedMode.INTAKE).onlyIf(() -> !isIntaked).withTimeout(1)
+        ),
 
         new AutoAim(swerve, shooter, elevator, leds)
       ),
@@ -63,6 +63,12 @@ public AutonShoot(
     );
   }
 
+  /** Resets this command for re-testing auton. */
+  public static void reset() {
+    isIntaked = false;
+    isRevved  = false;
+  }
+
   private double headingPreset() {
     return (UtilFuncs.GetAlliance() == Alliance.Red) ? 0 : 180;
   }

src/main/java/frc/robot/commands/intake/FeedActuate.java

@@ -48,9 +48,9 @@ public void initialize() {
     _intake.feed(_feedMode);
     _intake.actuate(_actuatorState);
 
-    // if not squished (and revved), can't shoot, else can 
-    if (_runOnce) AutonShoot.canShoot = false;
-    else AutonShoot.canShoot = true;
+    // if not squished, can't shoot, else can (FOR AUTON)
+    if (_runOnce && _actuatorState == ActuatorState.STOWED) AutonShoot.isIntaked = false;
+    if (!_runOnce && _actuatorState == ActuatorState.STOWED) AutonShoot.isIntaked = true;
   }
 
   // Called every time the scheduler runs while the command is scheduled.

src/main/java/frc/robot/commands/shooter/SpinShooter.java

@@ -1,7 +1,9 @@
 /* Copyright (C) 2024 Team 334. All Rights Reserved.*/
 package frc.robot.commands.shooter;
 
+import edu.wpi.first.wpilibj.Timer;
 import edu.wpi.first.wpilibj2.command.Command;
+import frc.robot.commands.auto.AutonShoot;
 import frc.robot.subsystems.ShooterSubsystem;
 import frc.robot.subsystems.ShooterSubsystem.ShooterState;
 
@@ -15,11 +17,15 @@ public class SpinShooter extends Command {
   private final ShooterState _state;
   private final boolean _runOnce;
 
+  private final Timer _revTimer;
+
   public SpinShooter(ShooterSubsystem shooter, ShooterState state, boolean runOnce) {
     _shooter = shooter;
     _state = state;
     _runOnce = runOnce;
 
+    _revTimer = new Timer();
+
     // NO SHOOTER SUBSYSTEM REQUIREMENT TO NOT MESS WITH SHOOTER ANGLING COMMANDS
   }
 
@@ -32,11 +38,18 @@ public SpinShooter(ShooterSubsystem shooter, ShooterState state) {
   @Override
   public void initialize() {
     _shooter.setShooterState(_state);
+
+    _revTimer.start();
+
+    // If not set to shoot state then not revved (AUTON ONLY).
+    if (_runOnce && _state != ShooterState.SHOOT) _revTimer.stop();
   }
 
   // Called every time the scheduler runs while the command is scheduled.
   @Override
-  public void execute() {}
+  public void execute() {
+    AutonShoot.isRevved = _revTimer.hasElapsed(2);
+  }
 
   // Called once the command ends or is interrupted.
   @Override

src/main/java/frc/robot/subsystems/ShooterSubsystem.java

@@ -51,7 +51,7 @@ public class ShooterSubsystem extends SubsystemBase {
 
   private boolean _holdNote = false;
 
-  /** Represents the state of the shooter's flywheels (speaker shoot, amp, nothing). */
+  /** Represents the state of the shooter's flywheels (speaker shoot, amp, idle, nothing). */
   public enum ShooterState {
     SHOOT,
     AMP,
@@ -182,9 +182,6 @@ public void stopAngle() {
 
   /** Sets the state of the shooter. */
   public void setShooterState(ShooterState state) {
-    SmartDashboard.putString("SHOOTER STATE", state.toString());
-    spinShooter(0.3);
-
     switch (state) {
       case SHOOT:
         if (UtilFuncs.ShotVector().getNorm() > FieldConstants.SHOOTER_SLOW_THRESHOLD) { 
@@ -203,7 +200,6 @@ public void setShooterState(ShooterState state) {
         break;
 
       case IDLE:
-        // spinShooter(0);
         spinShooter(Speeds.SHOOTER_IDLE_SPEED);
         break;