It appears the brake mode for the ShooterSubsystem in the ShootSpeakerCommand is backwards. When the command initializes it sets BrakeMode OFF making the speed harder to control, and when the command ends, it sets it ON which puts more stress on the motors, pulleys, etc. to stop the shooter. I think it should be the reverse. initialize -> ON, end -> OFF.
It appears the brake mode for the ShooterSubsystem in the ShootSpeakerCommand is backwards. When the command initializes it sets BrakeMode OFF making the speed harder to control, and when the command ends, it sets it ON which puts more stress on the motors, pulleys, etc. to stop the shooter. I think it should be the reverse. initialize -> ON, end -> OFF.