If the robot is closer than the minimum distance from the goal, then the winding is automatically stopped, as accomplished by the isSafeToWind method in the Launcher class. It would be a simple matter to print the boolean value to the SmartDashboard, where the driver can see if the robot is too close or too far from the goal. If the boolean is false, the driver would have to move the robot backwards before shooting. The ShootBall command group can not and should not be interrupted by the driver interface. I will edit the SmartDashboard, and then close this issue with the newest commit.
If the robot is closer than the minimum distance from the goal, then the winding is automatically stopped, as accomplished by the isSafeToWind method in the Launcher class. It would be a simple matter to print the boolean value to the SmartDashboard, where the driver can see if the robot is too close or too far from the goal. If the boolean is false, the driver would have to move the robot backwards before shooting. The ShootBall command group can not and should not be interrupted by the driver interface. I will edit the SmartDashboard, and then close this issue with the newest commit.