shooter jam prevention

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(