control changes

src/main/java/frc4388/robot/RobotContainer.java

@@ -241,21 +241,36 @@ public class RobotContainer {
             .onFalse(new InstantCommand(() -> m_robotSwerveDrive.softStop(), m_robotSwerveDrive));
         
         //Operator Controls
+        // new Trigger(() -> getDeadbandedOperatorController().getRightTriggerAxis() >= 0.5)
+        //     .onTrue(new InstantCommand(() -> {
+        //         m_robotIntake.setMode(IntakeMode.Extended);
+        //     }));
+
+
+        //allow shooting with right trigger
         new Trigger(() -> getDeadbandedOperatorController().getRightTriggerAxis() >= 0.5)
+            .onTrue(new InstantCommand(() -> {
+                m_robotShooter.allowShooting();
+            })).onFalse(new InstantCommand(() -> {
+                m_robotShooter.denyShooting();
+            }));
+        
+
+
+        new JoystickButton(getDeadbandedOperatorController(), XboxController.RIGHT_BUMPER_BUTTON)
             .onTrue(new InstantCommand(() -> {
                 m_robotIntake.setMode(IntakeMode.Extended);
             }));
-        
-        new JoystickButton(getDeadbandedOperatorController(), XboxController.RIGHT_BUMPER_BUTTON)
-            .onTrue(new InstantCommand(() -> {
-                m_robotIntake.setMode(IntakeMode.Retracted);
-            }));
-
-
 
 
+        //set shooter ready (rev) with left trigger hold
         new Trigger(() -> getDeadbandedOperatorController().getLeftTriggerAxis() >= 0.5)
             .onTrue(new InstantCommand(() -> {
+                m_robotShooter.spinUpShooting();
+                m_robotIntake.setMode(IntakeMode.Idle);
+                m_robotIntake.rollerStop();
+            }))
+            .onFalse(new InstantCommand(() -> {
                 m_robotShooter.spinUpIdle();
             }));
         
@@ -275,9 +290,7 @@ public class RobotContainer {
 
         new JoystickButton(getDeadbandedOperatorController(), XboxController.A_BUTTON)
             .onTrue(new InstantCommand(() -> {
-                m_robotShooter.allowShooting();
+                m_robotIntake.setMode(IntakeMode.Retracted);
-            })).onFalse(new InstantCommand(() -> {
-                m_robotShooter.denyShooting();
             }));
 
         new JoystickButton(getDeadbandedOperatorController(), XboxController.X_BUTTON)

src/main/java/frc4388/robot/subsystems/intake/Intake.java

@@ -40,6 +40,10 @@ public class Intake extends SubsystemBase {
         return mode;
     }
 
+    public void rollerStop(){
+        io.setRollerOutput(state, 0);
+    }
+
 
     // public enum FieldZone {
     //     // The robot should aim at the hub