shooter quick fix (#79)

Author: Wu-Fan-529

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

@@ -44,7 +44,7 @@ public RobotContainer() {
 
   private void configureBindings() {
     m_driverController.btn_LeftTrigger.whileTrue(com_IntakeGround);
-    m_driverController.btn_A.whileTrue(com_PrepShooter);
+    m_driverController.btn_A.onTrue(com_PrepShooter);
     m_driverController.btn_B.whileTrue(com_IntakeHopper);
     m_driverController.btn_LeftBumper.whileTrue(com_EjectShooter);
     m_driverController.btn_RightTrigger.onTrue(com_Shoot);

src/main/java/frc/robot/commands/HasGP.java

@@ -5,21 +5,24 @@
 package frc.robot.commands;
 
 import edu.wpi.first.wpilibj2.command.Command;
+import frc.robot.subsystems.Shooter;
 import frc.robot.subsystems.Stager;
 
 public class HasGP extends Command {
   /** Creates a new StageGP. */
   Stager globalStager;
+  Shooter globalShooter;
 
-  public HasGP(Stager passedStager) {
+  public HasGP(Stager passedStager, Shooter passedShooter) {
     // Use addRequirements() here to declare subsystem dependencies.
     globalStager = passedStager;
+    globalShooter = passedShooter;
   }
 
   // Called when the command is initially scheduled.
   @Override
   public void initialize() {
-
+    globalShooter.setShooterNuetralOutput();
   }
 
   // Called every time the scheduler runs while the command is scheduled.

src/main/java/frc/robot/commands/PrepShooter.java

@@ -32,7 +32,6 @@ public void execute() {
   // Called once the command ends or is interrupted.
   @Override
   public void end(boolean interrupted) {
-    globalShooter.setShooterNuetralOutput();
   }
 
   // Returns true when the command should end.

src/main/java/frc/robot/commands/Shoot.java

@@ -23,6 +23,8 @@ public Shoot(Stager passedStager, Shooter passedShooter) {
   // Called when the command is initially scheduled.
   @Override
   public void initialize() {
+    globalShooter.setPropelMotorVelocity(Constants.constShooter.PROPEL_MOTOR_VELOCITY);
+    globalShooter.setSpiralMotorVelocity(Constants.constShooter.SPIRAL_MOTOR_VELOCITY);
     if ((globalShooter.getPropelMotorVelocity() >= Constants.constShooter.PROPEL_MOTOR_VELOCITY)
         && (globalShooter.getSpiralMotorVelocity() >= Constants.constShooter.SPIRAL_MOTOR_VELOCITY)) {
       globalStager.setStagerMotorVelocity(Constants.constStager.STAGER_MOTOR_VELOCITY);
@@ -42,6 +44,7 @@ public void execute() {
   @Override
   public void end(boolean interrupted) {
     globalStager.setStagerMotorVelocityNuetralOutput();
+    globalShooter.setShooterNuetralOutput();
   }
 
   // Returns true when the command should end.