@Override
 protected void execute() {
   if (beam.ballPresent() && power < 0 && !isShooting) {
     collect.setPower(0);
   } else {
     collect.setPower(power);
   }
 }
 // Called once after isFinished returns true
 protected void end() {
   if (!isShooting) collect.setPower(0);
 }