Added buttons

src/main/java/frc4388/robot/commands/drive/SetShooterToOdo.java

@@ -0,0 +1,36 @@
+package frc4388.robot.commands.drive;
+
+import org.opencv.core.Mat;
+
+import edu.wpi.first.wpilibj2.command.CommandBase;
+import frc4388.robot.subsystems.Drive;
+import frc4388.robot.subsystems.ShooterAim;
+
+public class SetShooterToOdo extends CommandBase {
+  private ShooterAim m_shooterAim;
+  private Drive m_driveTrain;
+
+  private double targetAngle;
+
+  public SetShooterToOdo(ShooterAim shooterAim, Drive driveTrain) {
+    m_shooterAim = shooterAim;
+    m_driveTrain = driveTrain;
+  }
+
+  @Override
+  public void initialize() {
+    double xPos = m_driveTrain.getPose().getX();
+    double yPos = m_driveTrain.getPose().getY();
+    targetAngle = Math.atan(yPos / xPos) - m_driveTrain.getPose().getRotation().getDegrees();
+  }
+
+  @Override
+  public void execute() {
+    m_shooterAim.runshooterRotatePID(targetAngle);
+  }
+
+  @Override
+  public boolean isFinished() {
+    return Math.abs(m_shooterAim.getShooterRotatePosition() - targetAngle) < 5;
+  }
+}