made sure pre-loaded note shots can work

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

@@ -85,7 +85,7 @@ public RobotContainer() {
     NamedCommands.registerCommand("actuateOut", new SetShooter(_shooterSubsystem, () -> Presets.ACTUATE_SHOOTER_ANGLE).andThen(
       new FeedActuate(_intakeSubsystem, ActuatorState.OUT, FeedMode.INTAKE)
     ));
-    NamedCommands.registerCommand("actuateIn", new FeedActuate(_intakeSubsystem, ActuatorState.STOWED).alongWith(new SpinShooter(_shooterSubsystem, ShooterState.SHOOT).until(() -> true)));
+    NamedCommands.registerCommand("actuateIn", new FeedActuate(_intakeSubsystem, ActuatorState.STOWED).alongWith(new SpinShooter(_shooterSubsystem, ShooterState.SHOOT, true)));
     NamedCommands.registerCommand("shoot", new AutonShoot(_shooterSubsystem, _elevatorSubsystem, _ledSubsystem, _swerveSubsystem, _intakeSubsystem));
 
     // Drive/Operate default commands

src/main/java/frc/robot/commands/shooter/AutonShoot.java

@@ -4,17 +4,17 @@
 
 package frc.robot.commands.shooter;
 
+import edu.wpi.first.wpilibj.DriverStation.Alliance;
+import edu.wpi.first.wpilibj2.command.Commands;
+import edu.wpi.first.wpilibj2.command.ParallelCommandGroup;
 import edu.wpi.first.wpilibj2.command.SequentialCommandGroup;
-import edu.wpi.first.wpilibj2.command.WaitCommand;
-import edu.wpi.first.wpilibj2.command.WaitUntilCommand;
-import frc.robot.Constants.Encoders;
+import frc.robot.Constants.Presets;
 import frc.robot.commands.intake.FeedActuate;
 import frc.robot.subsystems.ElevatorSubsystem;
 import frc.robot.subsystems.IntakeSubsystem;
 import frc.robot.subsystems.LEDSubsystem;
 import frc.robot.subsystems.ShooterSubsystem;
 import frc.robot.subsystems.SwerveDriveSubsystem;
-import frc.robot.subsystems.IntakeSubsystem.ActuatorState;
 import frc.robot.subsystems.IntakeSubsystem.FeedMode;
 import frc.robot.subsystems.ShooterSubsystem.ShooterState;
 import frc.robot.utils.UtilFuncs;
@@ -23,6 +23,8 @@
 // information, see:
 // https://docs.wpilib.org/en/stable/docs/software/commandbased/convenience-features.html
 public class AutonShoot extends SequentialCommandGroup {
+  private double _headingPreset;
+
   /** Creates a new AutonShoot. */
   public AutonShoot(
     ShooterSubsystem shooter,
@@ -34,10 +36,17 @@ public AutonShoot(
     // Add your commands in the addCommands() call, e.g.
     // addCommands(new FooCommand(), new BarCommand());
     addCommands(
-      new AutoAim(shooter, elevator, leds, swerve).alongWith(new FeedActuate(intake, FeedMode.INTAKE).withTimeout(5)).withTimeout(6),
+      Commands.runOnce(() -> {_headingPreset = (UtilFuncs.GetAlliance() == Alliance.Red) ? 0 : 180;}),
+
+      // pre-shooting (rev up if needed, while auto aiming, while feeding in for squish)
+      new ParallelCommandGroup(
+        new SpinShooter(shooter, ShooterState.SHOOT, true).unless(() -> shooter.isState(ShooterState.SHOOT)).withTimeout(3),
+        new AutoAim(shooter, elevator, leds, swerve, Presets.CLOSE_SHOOTER_ANGLE, Presets.CLOSE_ELEVATOR_HEIGHT, _headingPreset).withTimeout(5),
+        new FeedActuate(intake, FeedMode.INTAKE).withTimeout(4)
+      ),
       // new WaitUntilCommand(() -> UtilFuncs.InRange(shooter.getVelocity(), Encoders.SHOOTER_SHOOT_VEL, 1)),
       new FeedActuate(intake, FeedMode.OUTTAKE).withTimeout(2),
-      new SpinShooter(shooter, ShooterState.NONE).until(() -> true)
+      new SpinShooter(shooter, ShooterState.NONE, true)
     );
   }
 }

src/main/java/frc/robot/commands/shooter/SpinShooter.java

@@ -14,12 +14,18 @@
 public class SpinShooter extends Command {
   private final ShooterSubsystem _shooter;
   private final ShooterState _state;
+  private final boolean _instant;
 
-  public SpinShooter(ShooterSubsystem shooter, ShooterState state) {
+  public SpinShooter(ShooterSubsystem shooter, ShooterState state, boolean instant) {
     _shooter = shooter;
     _state = state;
+    _instant = instant;
+
+    // NO SHOOTER SUBSYSTEM REQUIREMENT TO NOT MESS WITH SHOOTER ANGLING COMMANDS
+  }
 
-    // NO SHOOTER REQUIREMENT TO NOT MESS WITH SHOOTER ANGLING COMMANDS
+  public SpinShooter(ShooterSubsystem shooter, ShooterState state) {
+    this(shooter, state, false);
   }
 
   // Called when the command is initially scheduled.
@@ -40,6 +46,6 @@ public void end(boolean interrupted) {}
   // Returns true when the command should end.
   @Override
   public boolean isFinished() {
-    return false;
+    return _instant;
   }
 }

src/main/java/frc/robot/subsystems/ShooterSubsystem.java

@@ -37,6 +37,8 @@ public class ShooterSubsystem extends SubsystemBase {
   private final ArmFeedforward _angleFeed = new ArmFeedforward(0, 0, 0);
   private final PIDController _angleController = new PIDController(PID.SHOOTER_ANGLE_KP, 0, 0);
 
+  private ShooterState _shooterState = ShooterState.NONE;
+
   /** Represents the state of the shooter's flywheels (speaker shoot, amp, nothing). */
   public enum ShooterState {
     SHOOT,
@@ -72,6 +74,15 @@ public void periodic() {
     SmartDashboard.putNumber("SHOOTER ANGLE", getAngle());
   }
 
+  /**
+   * Returns true if the shooter's set state matches the supplied one.
+   * 
+   * @param state Check if the shooter spin been set to this state.
+   */
+  public boolean isState(ShooterState state) {
+    return _shooterState == state;
+  }
+
   /** Returns true if the shooter is at the last desired angle setpoint. */
   public boolean atDesiredAngle() {
     return _angleController.atSetpoint();
@@ -113,6 +124,8 @@ public void stopAngle() {
 
   /** Sets the state of the shooter. */
   public void setShooterState(ShooterState state) {
+    _shooterState = state;
+
     switch (state) {
       case SHOOT:
         spinShooter(Speeds.SHOOTER_SPIN_SPEED);