From 6e5bb74bf0b2928b395604fba005d4869d9fac13 Mon Sep 17 00:00:00 2001
From: Shikhar <mira.j.maroni@gmail.com>
Date: Mon, 16 Feb 2026 17:35:41 -0700
Subject: [PATCH] incorporating indexer waiting for shooter speed

---
 src/main/java/frc4388/robot/subsystems/shooter/Shooter.java | 6 +++++-
 1 file changed, 5 insertions(+), 1 deletion(-)

diff --git a/src/main/java/frc4388/robot/subsystems/shooter/Shooter.java b/src/main/java/frc4388/robot/subsystems/shooter/Shooter.java
index 5551815..0b274f6 100644
--- a/src/main/java/frc4388/robot/subsystems/shooter/Shooter.java
+++ b/src/main/java/frc4388/robot/subsystems/shooter/Shooter.java
@@ -152,7 +152,11 @@ public class Shooter extends SubsystemBase {
         switch (mode) {
             case Shooting:
                 io.setShooterVelocity(state, RotationsPerSecond.of(ShooterConstants.SHOOTER_ACTIVE_VELOCITY.get()));
-                io.setIndexerVelocity(state, RotationsPerSecond.of(ShooterConstants.INDEXER_FORWARD_VELOCITY.get()));
+                if(state.motor1Velocity.in(RotationsPerSecond) > 30){
+                    io.setIndexerVelocity(state, RotationsPerSecond.of(ShooterConstants.INDEXER_FORWARD_VELOCITY.get()));
+                }else{
+                  io.setIndexerVelocity(state, RotationsPerSecond.of(ShooterConstants.INDEXER_REVERSE_VELOCITY.get()));  
+                }
                 break;
             case Ready:
                 io.setShooterVelocity(state, RotationsPerSecond.of(ShooterConstants.SHOOTER_ACTIVE_VELOCITY.get()));