weird intake issue

src/main/java/frc/robot/Constants.java

@@ -94,7 +94,7 @@ public static class Physical {
 
   public static class Encoders {
     public static final int INTAKE_STOWED = 0;
-    public static final int INTAKE_OUT = 15;
+    public static final int INTAKE_OUT = 13;
 
     public static final int SHOOTER_SHOOT_VEL = 10; // TODO: get this 
   }

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

@@ -109,7 +109,7 @@ public RobotContainer() {
     ));
 
     // Non drive/operate default commands
-    // _intakeSubsystem.setDefaultCommand(new FeedActuate(_intakeSubsystem, ActuatorState.STOWED, FeedMode.NONE));
+    _intakeSubsystem.setDefaultCommand(new FeedActuate(_intakeSubsystem, ActuatorState.STOWED, FeedMode.NONE));
 
     configureBindings();
 
@@ -137,8 +137,7 @@ private void configureBindings() {
     _operatorController.square().whileTrue(safeFeedIn);
     _operatorController.circle().whileTrue(feedOut);
     _operatorController.triangle().whileTrue(new FeedActuate(_intakeSubsystem, ActuatorState.STOWED, FeedMode.OUTTAKE));
-    // _operatorController.cross().whileTrue(new FeedActuate(_intakeSubsystem, FeedMode.INTAKE));
-    _operatorController.cross().whileTrue(new SetElevator(_elevatorSubsystem, () -> .3));
+    _operatorController.cross().whileTrue(new FeedActuate(_intakeSubsystem, FeedMode.INTAKE));
 
     // driver bindings
     _driveController.R1().onTrue(Commands.runOnce(() -> _swerveSubsystem.fieldOriented = !_swerveSubsystem.fieldOriented, _swerveSubsystem));

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

@@ -32,6 +32,7 @@ public SetShooter(ShooterSubsystem shooter) {
   // Called when the command is initially scheduled.
   @Override
   public void initialize() {
+    _shooter.setAngle(_angle.getAsDouble());
   }
 
   // Called every time the scheduler runs while the command is scheduled.
@@ -43,12 +44,14 @@ public void execute() {
   // Called once the command ends or is interrupted.
   @Override
   public void end(boolean interrupted) {
+    System.out.println("DONE");
     _shooter.stopAngle();
   }
 
   // Returns true when the command should end.
   @Override
   public boolean isFinished() {
+    System.out.println(_shooter.atDesiredAngle());
     return _shooter.atDesiredAngle();
   }
 }

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

@@ -74,6 +74,7 @@ public void periodic() {
 
   /** Returns true if the shooter is at the last desired angle setpoint. */
   public boolean atDesiredAngle() {
+    System.out.println(_angleController.getSetpoint());
     return _angleController.atSetpoint();
   }