Trouble With Trajectory Auton


Our team is using trajectory generator to run paths during auton. The paths run normally when tested by themselves without the other subsystems, but when we try to run the trajectory auton with all of the code together, the robot spins in circles and the shooter turns on while the stopper solenoid activates. We believe there might be an issue with the default commands with he shooter running during auton but are not sure what the issue as. Any help would be greatly appreciated!
Thank you,

Here is a link to our code on Github:

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