diff --git a/.vscode/settings.json b/.vscode/settings.json
index 5e6ede8..6f5f6cb 100644
--- a/.vscode/settings.json
+++ b/.vscode/settings.json
@@ -57,5 +57,6 @@
     "edu.wpi.first.math.**.proto.*",
     "edu.wpi.first.math.**.struct.*",
   ],
-  "java.dependency.enableDependencyCheckup": false
+  "java.dependency.enableDependencyCheckup": false,
+  "java.jdt.ls.vmargs": "-XX:+UseParallelGC -XX:GCTimeRatio=4 -XX:AdaptiveSizePolicyWeight=90 -Dsun.zip.disableMemoryMapping=true -Xmx2G -Xms100m -Xlog:disable"
 }
diff --git a/src/main/java/frc/robot/RobotContainer.java b/src/main/java/frc/robot/RobotContainer.java
index 854af9b..80f8246 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().alongWith(
+            spindexer.spinToShooter().onlyWhile(() -> shooter.getAverageActualSpeeds()>2000).alongWith(
                 intakeRoller.runIn(),
                 intakePivot.jimmy(.5)
             )