Merge branch 'maxwells_temp_branch_26_03_06' into week-2-merge-260307-3

diff --cc src/main/java/frc/robot/controls/PS5ControllerDriverConfig.java
index 81b70d8233078fed9f9818e1335478f785abab74,1cd5066013978464cf35c870f24abe1edd1b939c..42642621aba2a0cf55f1da1c3f5840f356bf29f5
--- 1/src/main/java/frc/robot/controls/PS5ControllerDriverConfig.java
--- 2/src/main/java/frc/robot/controls/PS5ControllerDriverConfig.java
+++ b/src/main/java/frc/robot/controls/PS5ControllerDriverConfig.java
@@@ -137,14 -143,8 +143,11 @@@ public class PS5ControllerDriverConfig 
  
          // Spindexer
          if (spindexer != null) {
 -            // Will only run if we are not calling default shoot command
 -            controller.get(PS5Button.LEFT_TRIGGER).whileTrue(new RunSpindexer(spindexer, turret));
 +
 +            // Toggle spindexer
 +            controller.get(PS5Button.LEFT_TRIGGER).toggleOnTrue(
 +                new RunSpindexer(spindexer, turret)
 +            );
-             // controller.get(PS5Button.LEFT_TRIGGER).toggleOnTrue(
-             //     new RunSpindexer(spindexer)
-             // );
          }
  
          // Auto shoot