From 2b464d2f32f714ac1a19031d727f9a01d6b3820a Mon Sep 17 00:00:00 2001
From: Tylr-J42 <Tyler.Jacques00@gmail.com>
Date: Thu, 26 Mar 2026 12:06:41 -0400
Subject: [PATCH] shooter jam prevention

---
 .../autos/MOVE B____ left to center.auto      | 23 ++++++++++++-------
 .../pathplanner/autos/left to center.auto     | 23 ++++++++++++-------
 src/main/java/frc/robot/RobotContainer.java   |  2 +-
 .../java/frc/robot/subsystems/Spindexer.java  | 18 +++++++++++++++
 4 files changed, 49 insertions(+), 17 deletions(-)

diff --git a/src/main/deploy/pathplanner/autos/MOVE B____ left to center.auto b/src/main/deploy/pathplanner/autos/MOVE B____ left to center.auto
index 40ebc7a..25d2f5b 100644
--- a/src/main/deploy/pathplanner/autos/MOVE B____ left to center.auto	
+++ b/src/main/deploy/pathplanner/autos/MOVE B____ left to center.auto	
@@ -5,15 +5,22 @@
     "data": {
       "commands": [
         {
-          "type": "named",
+          "type": "parallel",
           "data": {
-            "name": "intake down"
-          }
-        },
-        {
-          "type": "path",
-          "data": {
-            "pathName": "left start to center"
+            "commands": [
+              {
+                "type": "path",
+                "data": {
+                  "pathName": "left start to center"
+                }
+              },
+              {
+                "type": "named",
+                "data": {
+                  "name": "intake down"
+                }
+              }
+            ]
           }
         },
         {
diff --git a/src/main/deploy/pathplanner/autos/left to center.auto b/src/main/deploy/pathplanner/autos/left to center.auto
index dfbe6b5..3deb51b 100644
--- a/src/main/deploy/pathplanner/autos/left to center.auto	
+++ b/src/main/deploy/pathplanner/autos/left to center.auto	
@@ -5,15 +5,22 @@
     "data": {
       "commands": [
         {
-          "type": "named",
+          "type": "parallel",
           "data": {
-            "name": "intake down"
-          }
-        },
-        {
-          "type": "path",
-          "data": {
-            "pathName": "left start to center"
+            "commands": [
+              {
+                "type": "path",
+                "data": {
+                  "pathName": "left start to center"
+                }
+              },
+              {
+                "type": "named",
+                "data": {
+                  "name": "intake down"
+                }
+              }
+            ]
           }
         },
         {
diff --git a/src/main/java/frc/robot/RobotContainer.java b/src/main/java/frc/robot/RobotContainer.java
index 80f8246..cabc6b2 100644
--- a/src/main/java/frc/robot/RobotContainer.java
+++ b/src/main/java/frc/robot/RobotContainer.java
@@ -301,7 +301,7 @@ public class RobotContainer {
         driver.rightBumper().whileTrue(intakeRoller.runIn());
 
         driver.rightTrigger().whileTrue(
-            spindexer.spinToShooter().onlyWhile(() -> shooter.getAverageActualSpeeds()>2000).alongWith(
+            spindexer.spinToShooter(shooter::getAverageActualSpeeds, 2000).alongWith(
                 intakeRoller.runIn(),
                 intakePivot.jimmy(.5)
             )
diff --git a/src/main/java/frc/robot/subsystems/Spindexer.java b/src/main/java/frc/robot/subsystems/Spindexer.java
index b64cf2e..0479424 100644
--- a/src/main/java/frc/robot/subsystems/Spindexer.java
+++ b/src/main/java/frc/robot/subsystems/Spindexer.java
@@ -1,5 +1,7 @@
 package frc.robot.subsystems;
 
+import java.util.function.DoubleSupplier;
+
 import com.ctre.phoenix6.controls.DutyCycleOut;
 import com.ctre.phoenix6.hardware.TalonFX;
 import com.revrobotics.PersistMode;
@@ -44,6 +46,22 @@ public class Spindexer extends SubsystemBase {
         });
     }
 
+    public Command spinToShooter(DoubleSupplier shooterSpeedRPM, double cutOffRPM) {
+        return run(() -> {
+            if(shooterSpeedRPM.getAsDouble() < cutOffRPM) {
+                spindexerMotor.setControl(
+                    spindexerMotorOutput.withOutput(0)
+                );
+                feederMotor.set(0);
+            } else {
+                spindexerMotor.setControl(
+                    spindexerMotorOutput.withOutput(SpindexerConstants.kSpindexerSpeed)
+                );
+                feederMotor.set(SpindexerConstants.kFeederSpeed);
+            }
+        });
+    }
+
     public Command spinToIntake() {
         return run(() -> {
             spindexerMotor.setControl(