Made hopper only spin when shooter is spinning fast enough.

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

@@ -408,7 +408,8 @@ public void putShuffleboardCommands() {
                                         new RunHopperAndFeeder(hopperSubsystem, feederSubsystem));
                         SmartDashboard.putData("RunTurret",
                                         new TestSetTurretAngle(turretSubsystem));
-
+                        SmartDashboard.putData("Run \"ShootButton\"",
+                                        new ShootButton(controllerSubsystem));
                         SmartDashboard.putData(
                                         "test/Run Dashboard Shot Test (30s)",
                                         new RunDashboardShotTest(anglerSubsystem, turretSubsystem, shooterSubsystem));
@@ -591,4 +592,8 @@ public ShootingState getShootingState() {
         public IntakeDeployerSubsystem getDeployer(){
                 return intakeDeployer;
         }
+
+    public ShooterSubsystem getShooterSubsystem(){
+        return shooterSubsystem;
+    }
 }

src/main/java/frc/robot/constants/GameConstants.java

@@ -44,6 +44,9 @@ public enum Mode {
     public static final int STEER_JOYSTICK_PORT = 1;
     public static final int XBOX_CONTROLLER_PORT = 2;
 
+    // Thresholds
+    public static final double SHOOTER_THRESHOLD = 1500;
+
     //Speeds
     public static final double ROLLER_SPEED = 0.25;
     public static final double TILT_SPEED = -0.5; // Arm motor is inverted - use negative speed

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

@@ -243,7 +243,9 @@ public boolean shouldFeederSpin() {
     }
 
     public boolean shouldHopperSpin() {
-        return activeTargets.hopperSpin;
+        return activeTargets.hopperSpin
+        && Math.abs(robotContainer.getShooterSubsystem().getVelocity()) > Math.abs(Constants.SHOOTER_THRESHOLD)
+        && Math.abs(activeTargets.shooterVelocityRpm)                   > Math.abs(Constants.SHOOTER_THRESHOLD);
     }
 
     public void setDriverActivatedShooting(boolean set) {

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

@@ -108,4 +108,8 @@ public static MotorPair createMotor() {
     }
     public record MotorPair(SparkMaxPidMotor mainMotor, SparkMax followerMotor){}
     public record MotorPairIO(RealSparkMaxIo mainMotor, RealSparkMaxIo followerMotor){}
+
+    public double getVelocity() {
+        return io.getEncoderVelocity();
+    }
 }

src/main/java/frc/robot/utils/logging/io/motor/MockSparkMaxIo.java

@@ -20,6 +20,11 @@ public MockSparkMaxIo(String name, MotorLoggableInputs inputs) {
     public void set(double speed) {
     }
 
+    @Override
+    public double getEncoderVelocity() {
+        return 0; // example
+    }
+
     @Override
     public void setVoltage(double voltage) {
     }

src/main/java/frc/robot/utils/logging/io/motor/RealSparkMaxIo.java

@@ -46,7 +46,12 @@ public boolean isFwdSwitchPressed() {
     public boolean isRevSwitchPressed() {
         return getInputs().getRevLimit();
     }
-
+
+    @Override
+    public double getEncoderVelocity() {
+        return getInputs().getEncoderVelocity();
+    }
+
     @Override
     protected void updateInputs(MotorLoggableInputs inputs) {
         inputs.fromHardware(motor);

src/main/java/frc/robot/utils/logging/io/motor/SparkMaxIo.java

@@ -8,6 +8,8 @@
 public interface SparkMaxIo extends BaseIo {
     void set(double speed);
 
+    double getEncoderVelocity();
+
     void setVoltage(double voltage);
 
     void stopMotor();