operator and driver controls change

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

@@ -189,7 +189,7 @@ public class RobotContainer {
         );
 
         // Lock on to the appropriate Amp AprilTag while still being able to strafe and drive forward and back
-        driver.a().onTrue(
+        driver.leftBumper().onTrue(
             drivetrain.driveAprilTagLock(
                 driver::getLeftY, 
                 driver::getLeftX, 
@@ -260,6 +260,13 @@ public class RobotContainer {
         operator.y().whileTrue(Commands.parallel(climber.setSpeedWithSupplier(operator::getRightTriggerAxis), shooter.climbState()));
 
         driver.a().whileTrue(indexer.shootNote(() -> 1.0));
+
+        operator.back().toggleOnTrue(shooter.manualPivot(
+        () -> operator.getLeftY(),
+        () -> operator.getRightTriggerAxis()-operator.getLeftTriggerAxis()
+        ));
+
+        operator.start().onTrue(shooter.zeroEncoder());
         
   }
 

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

@@ -29,8 +29,10 @@ public class Climber extends SubsystemBase {
     public Command setSpeedWithSupplier(DoubleSupplier speed) {
         return run(() -> {
 
-            if(shooterAngle.getAsDouble() > Math.toRadians(-10.0)){
+            if(shooterAngle.getAsDouble() > Math.toRadians(-5.0)){
                 motor1.set(VictorSPXControlMode.PercentOutput, speed.getAsDouble());
+            }else{
+                motor1.set(VictorSPXControlMode.PercentOutput, 0);
             }
         });
     }

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

@@ -4,8 +4,6 @@ import java.util.function.BooleanSupplier;
 import java.util.function.DoubleSupplier;
 
 import com.revrobotics.CANSparkMax;
-import com.revrobotics.RelativeEncoder;
-import com.revrobotics.SparkPIDController;
 import com.revrobotics.CANSparkBase.IdleMode;
 import com.revrobotics.CANSparkLowLevel.MotorType;
 
@@ -21,9 +19,6 @@ public class Shooter extends SubsystemBase{
     private CANSparkMax topShooter;
     private CANSparkMax bottomShooter;
 
-    private RelativeEncoder bottomEncoder;
-    private RelativeEncoder topEncoder;
-
     private CANSparkMax shooterPivot;
 
     private Encoder pivotEncoder;
@@ -42,9 +37,6 @@ public class Shooter extends SubsystemBase{
         shooterPivot = new CANSparkMax(ShooterConstants.kShooterPivotID, MotorType.kBrushless);
         shooterPivot.setInverted(true);
 
-        topEncoder = topShooter.getEncoder();
-        bottomEncoder = bottomShooter.getEncoder();
-
         /* 
         topPID = topShooter.getPIDController();
         topPID.setFeedbackDevice(topEncoder);
@@ -137,6 +129,12 @@ public class Shooter extends SubsystemBase{
         return pivotEncoder.getDistance() + ShooterConstants.kShooterLoadAngle;
     }
 
+    public Command zeroEncoder(){
+        return run(() -> {
+            pivotEncoder.reset();
+        });
+    }
+
     public Boolean getBeamBreak(){
         return shooterBeamBreak.get();
     }