Intake backup off rotations instead of seconds (untested)

src/main/java/frc/robot/commands/AdvancedIntakeCommand.java

@@ -18,8 +18,6 @@ public AdvancedIntakeCommand(
     addCommands(
         new IntakeCommand(intakeSubsystem, shooterSubsystem, pivotSubsystem, elevatorSubsystem),
         new ParallelCommandGroup(
-            new SerializerBackupCommand(shooterSubsystem)
-                .withTimeout(0.04)
-                .andThen(new StopShooterCommand(shooterSubsystem))));
+            new SerializerBackupCommand(shooterSubsystem)));
   }
 }

src/main/java/frc/robot/commands/SerializerBackupCommand.java

@@ -11,6 +11,7 @@
 public class SerializerBackupCommand extends Command {
   /** Creates a new SerializerBackupCommand. */
   ShooterSubsystem shooterSubsystem;
+  double serializerPos;
   public SerializerBackupCommand(ShooterSubsystem shooterSubsystem) {
     // Use addRequirements() here to declare subsystem dependencies.
     this.shooterSubsystem = shooterSubsystem;
@@ -21,6 +22,7 @@ public SerializerBackupCommand(ShooterSubsystem shooterSubsystem) {
   @Override
   public void initialize() {
     shooterSubsystem.setShooterMode(ShooterMode.SERIALIZER_BACKUP);
+    serializerPos = shooterSubsystem.getSerializerPositon();
   }
 
   // Called every time the scheduler runs while the command is scheduled.
@@ -29,11 +31,13 @@ public void execute() {}
 
   // Called once the command ends or is interrupted.
   @Override
-  public void end(boolean interrupted) {}
+  public void end(boolean interrupted) {
+    shooterSubsystem.setShooterMode(ShooterMode.IDLE);
+  }
 
   // Returns true when the command should end.
   @Override
   public boolean isFinished() {
-    return false;
+    return serializerPos - 0.5 > shooterSubsystem.getSerializerPositon();
   }
 }

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

@@ -156,6 +156,10 @@ public ShooterMode getMode() {
     return shooterMode;
   }
 
+  public double getSerializerPositon(){
+    return serializerMotor.getRotorPosition().getValueAsDouble();
+  }
+
   public boolean isShooterUpToSpeed() {
     return pivotShooterTopMotor.getVelocity().getValueAsDouble()
             >= Shooter.SHOOTER_VELOCITY_THRESHOLD