Made a kill button for ampScore

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

@@ -11,6 +11,7 @@
 import frc.robot.auto.PhotonRunnable;
 import frc.robot.constants.OperatorConstants;
 import frc.robot.elevator.Elevator;
+import frc.robot.elevator.commands.AmpScoreKill;
 import frc.robot.elevator.commands.ElevatorDown;
 import frc.robot.elevator.commands.ElevatorUp;
 import frc.robot.elevator.commands.ElevatorSmallUp;
@@ -45,7 +46,7 @@ public class RobotContainer {
     private final Command intakePickup = new IntakePickup(intake);
     private final Command intakeShooterFeed = new IntakeShooterFeed(intake);
     private final Command intakeEject = new IntakeAmpScore(intake);
-
+    private final Command ampScoreKill = new AmpScoreKill(elevator);
     private final Command shooterSpinUp = new ShooterSpinUp(shooter);
 
     private final SequentialCommandGroup ampScore = new SequentialCommandGroup(
@@ -88,6 +89,7 @@ private void configureSubsystemCommands() {
         controller.getB().onTrue(speakerScore);
 
         controller.getRightTrigger().onTrue(ElevatorSmallUp);
+        controller.getY().onTrue(ampScoreKill);
     }
 
     private void configureSwerveDriveCommands() {

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

@@ -0,0 +1,46 @@
+// Copyright (c) FIRST and other WPILib contributors.
+// Open Source Software; you can modify and/or share it under the terms of
+// the WPILib BSD license file in the root directory of this project.
+
+package frc.robot.elevator.commands;
+
+import edu.wpi.first.wpilibj2.command.Command;
+import frc.robot.constants.ElevatorConstants;
+import frc.robot.elevator.Elevator;
+
+public class AmpScoreKill extends Command {
+    private final Elevator elevator;
+
+    public AmpScoreKill(Elevator elevator) {
+        this.elevator = elevator;
+        addRequirements(elevator);
+
+    }
+
+    @Override
+
+     public void initialize() {
+        elevator.run(ElevatorConstants.MOTOR_SLOWFALL_SPEED);
+    }
+
+
+    @Override
+    public void execute() {}
+
+    @Override
+    public void end(boolean interrupted) {
+        elevator.run(0);
+    }
+
+
+    @Override
+    public boolean isFinished() {
+        double steps = elevator.getEncoderPosition();
+        if (steps < ElevatorConstants.MOTOR_MIN_STEPS) {
+            return true;
+        } else {
+            return false;
+        }
+
+    }
+}