shooter jam prevention

src/main/deploy/pathplanner/autos/MOVE B____ left to center.auto

@@ -5,17 +5,24 @@
     "data": {
       "commands": [
         {
-          "type": "named",
+          "type": "parallel",
           "data": {
-            "name": "intake down"
+            "commands": [
-          }
-        },
               {
                 "type": "path",
                 "data": {
                   "pathName": "left start to center"
                 }
               },
+              {
+                "type": "named",
+                "data": {
+                  "name": "intake down"
+                }
+              }
+            ]
+          }
+        },
         {
           "type": "parallel",
           "data": {

src/main/deploy/pathplanner/autos/left to center.auto

@@ -5,17 +5,24 @@
     "data": {
       "commands": [
         {
-          "type": "named",
+          "type": "parallel",
           "data": {
-            "name": "intake down"
+            "commands": [
-          }
-        },
               {
                 "type": "path",
                 "data": {
                   "pathName": "left start to center"
                 }
               },
+              {
+                "type": "named",
+                "data": {
+                  "name": "intake down"
+                }
+              }
+            ]
+          }
+        },
         {
           "type": "parallel",
           "data": {

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)
             )

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(