minor change in hold commands

src/main/java/frc/robot/commands/elevator/HoldElevator.java

@@ -7,13 +7,15 @@
 import frc.robot.subsystems.ElevatorSubsystem;
 
 public class HoldElevator extends Command {
-  /** Creates a new HoldElevator. */
-  private ElevatorSubsystem _elevator;
+  private final ElevatorSubsystem _elevator;
+  private final double _maintainHeight;
 
+  /** Creates a new HoldElevator. */
   public HoldElevator(ElevatorSubsystem elevator) {
     // Use addRequirements() here to declare subsystem dependencies.
     addRequirements(elevator);
     _elevator = elevator;
+    _maintainHeight = elevator.getElevatorHeight();
   }
 
   // Called when the command is initially scheduled.
@@ -23,7 +25,7 @@ public void initialize() {}
   // Called every time the scheduler runs while the command is scheduled.
   @Override
   public void execute() {
-    _elevator.setElevatorHeight(_elevator.getElevatorHeight()); // holds the elevator in place
+    _elevator.setElevatorHeight(_maintainHeight); // holds the elevator in place
   }
 
   // Called once the command ends or is interrupted.

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

@@ -20,7 +20,7 @@ public AutoAim(ShooterSubsystem shooter, VisionSubsystem vision, SwerveDriveSubs
     _shooter = shooter;
     _vision = vision;
     _swerve = swerve;
-    addRequirements(_shooter, _vision, _swerve);
+    addRequirements(_shooter, _vision); // not adding swerve as a requirement to prevent interrupting default command
   }
 
   // Called when the command is initially scheduled.

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

@@ -8,12 +8,14 @@
 
 public class HoldShooter extends Command {
   private final ShooterSubsystem _shooter;
+  private final double _maintainAngle;
 
   /** Creates a new HoldShooter. */
   public HoldShooter(ShooterSubsystem shooter) {
     // Use addRequirements() here to declare subsystem dependencies.
 
     _shooter = shooter;
+    _maintainAngle = shooter.getAngle();
 
     addRequirements(shooter);
   }
@@ -25,7 +27,7 @@ public void initialize() {}
   // Called every time the scheduler runs while the command is scheduled.
   @Override
   public void execute() {
-    _shooter.setAngle(_shooter.getAngle());
+    _shooter.setAngle(_maintainAngle);
   }
 
   // Called once the command ends or is interrupted.

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

@@ -394,6 +394,6 @@ public double shooterAngleToSpeaker() {
     double zDifference = FieldConstants.SPEAKER_HEIGHT - Constants.Physical.SHOOTER_HEIGHT_STOWED;
 
     double angle = Math.atan(zDifference / distanceToRobot);
-    return angle;
+    return Math.toDegrees(angle);
   }
 }

src/main/java/frc/robot/utils/AllianceFieldConstants.java

@@ -9,6 +9,10 @@
 
 /** Dynamic field constants that at the start of the match are set based on the alliance color. */
 public class AllianceFieldConstants {
+    /** 
+     * The field layout. 
+     * @see AprilTagFieldLayout 
+     */
     public final AprilTagFieldLayout APRILTAG_LAYOUT = AprilTagFields.k2024Crescendo.loadAprilTagLayoutField();
 
     /** The speaker's tag ID. */