Update at 'Mon May 19 20:45:39 EDT 2025'

Author: LTeixeira4909

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

@@ -272,8 +272,8 @@ private void configureBindings() {
         //joystick.a().onTrue(s_Elevator.goToL2A()).onFalse(s_Elevator.goToL1());
         //joystick.povLeft().whileTrue(Commands.sequence(s_Elevator.goToL2A_wait(), Commands.parallel(s_Elevator.goToL2A().repeatedly(), Commands.sequence(s_Algae.extend(), s_Algae.intake(), s_Shooter.intake()))));
         //joystick.povRight().whileTrue(Commands.sequence(s_Elevator.goToL3A_wait(), Commands.parallel(s_Elevator.goToL3A().repeatedly(), Commands.sequence(s_Algae.extend(), s_Algae.intake(), ))));
-        joystick.povRight().whileTrue(Commands.parallel(Commands.sequence(s_Algae.extend(), s_Algae.intake(), s_Shooter.intake())));
-        joystick.povLeft().whileTrue(Commands.parallel(Commands.sequence(s_Algae.almostextend(), s_Algae.intake(), s_Shooter.intake())));
+        joystick.povRight().whileTrue(Commands.parallel(Commands.sequence(s_Algae.extend(), s_Algae.intake(), s_Shooter.intake()))).onFalse(Commands.parallel(s_Shooter.stopInstant(), Commands.sequence(s_Algae.stopShooter(), s_Algae.home())));
+        joystick.povLeft().whileTrue(Commands.parallel(Commands.sequence(s_Algae.almostextend(), s_Algae.intake(), s_Shooter.intake()))).onFalse(Commands.parallel(s_Shooter.stopInstant(), Commands.sequence(s_Algae.stopShooter(), s_Algae.home())));
         joystick.rightStick().onTrue(s_Algae.shoot()).onFalse(s_Algae.stopShooter());
         //joystick.back().whileTrue(s_Elevator.goToL1Intake().repeatedly().alongWith(s_Algae.intakeL1().andThen(s_Algae.shoot()))).onFalse(s_Algae.holdCoral().alongWith(s_Elevator.goToL1Shoot().repeatedly()));
         joystick.leftStick().whileTrue(s_Algae.shootL1low().andThen(s_Algae.slowShoot().andThen(s_Elevator.goToL1Shoot().repeatedly()))).onFalse(s_Algae.home().andThen(s_Algae.stopShooter().andThen(new WaitCommand(5).alongWith(s_Elevator.goToL1()))));