Update at 'Thu Apr 17 11:21:29 EDT 2025'

Author: LTeixeira4909

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

@@ -311,16 +311,16 @@ private void configureBindings() {
                         s_Shooter.shoot()
                 ))
                 .onFalse(new InstantCommand(()->joystick.setRumble(RumbleType.kBothRumble, 0))
-                 .andThen(s_Shooter.stop().andThen(new RunCommand(() -> stopDrive()))));
+                .andThen(Commands.parallel(s_Shooter.stop(), new RunCommand(() -> stopDrive(), drivetrain))));
 
         // stop the robot override
         joystick.button(7).whileTrue(new RunCommand(()-> {System.out.println("STOP");stopDrive(); }, drivetrain));
 
         // auto align left
         joystick.x().whileTrue(Commands.parallel(new DriveToPose(drivetrain,
                 new Transform2d(Units.inchesToMeters(-33.5/2+0.25), Units.inchesToMeters(13.5+2.25),
-                 new Rotation2d()), joystick),s_Shooter.shoot())).onFalse(new InstantCommand(()->joystick.setRumble(RumbleType.kBothRumble, 0))
-                 .andThen(s_Shooter.stop().andThen(new RunCommand(() -> stopDrive()))));
+                new Rotation2d()), joystick),s_Shooter.shoot())).onFalse(new InstantCommand(()->joystick.setRumble(RumbleType.kBothRumble, 0))
+                .andThen(Commands.parallel(s_Shooter.stop(), new RunCommand(() -> stopDrive(), drivetrain))));
 
         // joystick.povDown().whileTrue(Commands.parallel(new DriveToPose(drivetrain,
         //         new Transform2d(Units.inchesToMeters(-33.5/1.5), Units.inchesToMeters(0)