Fix swiffer command end behavior

simgui-window.json

@@ -36,6 +36,11 @@
       "Pos": "1411,747",
       "Size": "170,274"
     },
+    "###DIO": {
+      "Collapsed": "0",
+      "Pos": "1677,877",
+      "Size": "195,86"
+    },
     "###FMS": {
       "Collapsed": "0",
       "Pos": "414,437",

simgui.json

@@ -4,6 +4,7 @@
       "0": {
         "columns": 8
       },
+    "DIO": {
       "window": {
         "visible": true
       }

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

@@ -184,10 +184,10 @@ private void configureCopilotButtonBindings() {
     copilotController.aButton.whenHeld(new UpperHubAlignCommand(driveSubsystem, localization));
 
     // Snarfing
-    copilotController.rightTrigger.whileHeld(new ArmDownAndSnarfCommand(superstructureSubsystem));
+    copilotController.rightTrigger.whenHeld(new ArmDownAndSnarfCommand(superstructureSubsystem));
 
     // Shooting
-    copilotController.leftTrigger.whileHeld(
+    copilotController.leftTrigger.whenHeld(
         new ArmUpAndSwifferShootCommand(superstructureSubsystem));
   }
 

src/main/java/frc/robot/superstructure/swiffer/commands/SwifferCommand.java

@@ -26,19 +26,8 @@ public void initialize() {
     swiffer.setDesiredMode(mode);
   }
 
-  // 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) {
-    swiffer.setDesiredMode(SwifferMode.STOPPED);
-  }
-
-  // Returns true when the command should end.
   @Override
   public boolean isFinished() {
-    return swiffer.atGoal(mode);
+    return false;
   }
 }