made stop shooter state🦟™️

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

@@ -78,19 +78,18 @@ private void configureBindings() {
             () -> subStateMachine.tryState(RobotState.SHOOT)))
         .onFalse(Commands.deferredProxy(
             () -> subStateMachine.tryState(RobotState.NONE)));
-
-    // prepShooter -> hasGP
-
-      m_driverController.btn_B
-          .onTrue(Commands.deferredProxy(
-              () -> subStateMachine.tryState(RobotState.HAS_GP)));
 
 
     // hasGP
 
       hasGamePieceTrigger
           .whileTrue(Commands.deferredProxy(
               () -> subStateMachine.tryState(RobotState.HAS_GP)));
+
+    //StopShooter
+    m_driverController.btn_X
+    .onTrue(Commands.deferredProxy(
+() -> subStateMachine.tryState(RobotState.STOP_SHOOTER) ));
 
   }
 

src/main/java/frc/robot/commands/states/StopShooter.java

@@ -0,0 +1,46 @@
+// Copyright (c) FIRST and other WPILib contributors.
+// Open Source Software; you can modify and/or share it under the terms of
+// the WPILib BSD license file in the root directory of this project.
+
+package frc.robot.commands.states;
+
+import edu.wpi.first.wpilibj2.command.Command;
+import frc.robot.subsystems.Shooter;
+import frc.robot.subsystems.StateMachine;
+import frc.robot.subsystems.StateMachine.RobotState;
+
+public class StopShooter extends Command {
+  /** Creates a new StopShooter. */
+   Shooter globalShooter;
+  StateMachine globalStateMachine;
+  public StopShooter(StateMachine passedStateMachine, Shooter passedShooter) {
+    // Use addRequirements() here to declare subsystem dependencies.
+    globalStateMachine = passedStateMachine;
+    addRequirements(globalStateMachine);
+    globalShooter = passedShooter;
+
+
+  }
+
+  // Called when the command is initially scheduled.
+  @Override
+  public void initialize() {
+
+    globalStateMachine.setState(RobotState.STOP_SHOOTER);
+    globalShooter.setShooterNuetralOutput();
+  }
+
+  // Called every time the scheduler runs while the command is scheduled.
+  @Override
+  public void execute() {}
+
+  // Called once the command ends or is interrupted.
+  @Override
+  public void end(boolean interrupted) {}
+
+  // Returns true when the command should end.
+  @Override
+  public boolean isFinished() {
+    return false;
+  }
+}

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

@@ -9,6 +9,7 @@
 import edu.wpi.first.wpilibj2.command.Commands;
 import edu.wpi.first.wpilibj2.command.SubsystemBase;
 import frc.robot.commands.*;
+import frc.robot.commands.states.StopShooter;
 
 public class StateMachine extends SubsystemBase {
   /** Creates a new StateMachine. */
@@ -39,6 +40,7 @@ public enum RobotState {
     NONE,
     PREP_SHOOTER,
     SHOOT,
+    STOP_SHOOTER,
   }
 
   public void setState(RobotState state) {
@@ -68,7 +70,7 @@ public Command tryState(RobotState desiredState) {
         switch (currentState) {
           case INTAKE_HOPPER:
           case SHOOT:
-          case PREP_SHOOTER:
+          case STOP_SHOOTER:
           case NONE:
 
             return new HasGP(globalStager, globalShooter, globalStateMachine, globalLED);
@@ -99,7 +101,14 @@ public Command tryState(RobotState desiredState) {
             return new Shoot(globalStateMachine, globalStager, globalShooter, globalLED);
         }
         break;
-        case NONE:
+      case STOP_SHOOTER:
+        switch (currentState) {
+          case PREP_SHOOTER:
+          return new StopShooter(globalStateMachine, globalShooter);          
+
+        }
+        break;
+      case NONE:
         switch (currentState) {
           case EJECT_INTAKE:
           case EJECT_SHOOTER:
@@ -109,6 +118,7 @@ public Command tryState(RobotState desiredState) {
             return new none(globalStateMachine, globalHopper, globalIntake, globalShooter, globalStager, globalLED);
         }
         break;
+
       // default:
       // return new None(globalHopper, globalIntake, globalShooter, globalStager);
     }